Difference between revisions of "Explorer/PPRZ/Tunning"
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Tunning the vertical loop | [[Explorer]] | ||
<big>Tunning the vertical loop</big> | |||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_"> | |||
Add following mode to telemetry file | Add following mode to telemetry file | ||
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</mode> | </mode> | ||
Switch to NAV mode, takeoff, standby<br /> | Switch to NAV mode, takeoff, standby <br /> | ||
Set telemetry from default to vert_loop | Set telemetry from default to vert_loop <br /> | ||
Plot in realtime | Plot in realtime<br /> | ||
~/Projects/paparazzi/sw/ground_segment/tmtc/messages | ~/Projects/paparazzi/sw/ground_segment/tmtc/messages <br /> | ||
~/Projects/paparazzi/sw/logalizer/plotter | ~/Projects/paparazzi/sw/logalizer/plotter <br /> | ||
or post process ground log and data files | or post process ground log and data files<br /> | ||
~/Projects/paparazzi/sw/logalizer/logplotter ~/Projects/paparazzi/var/logs/xx.log | ~/Projects/paparazzi/sw/logalizer/logplotter ~/Projects/paparazzi/var/logs/xx.log | ||
<br /><br /> | |||
1) Start with no KI, and no adaptation, and set NOMINAL_HOVER_THROTTLE, from manual flight <br /> | |||
=> in flight test, adjust KP and KD | |||
<define name="HOVER_KP" value="90"/> | |||
<define name="HOVER_KD" value="120"/> | |||
<define name="HOVER_KI" value="0"/> | |||
<define name="NOMINAL_HOVER_THROTTLE" value="0.30"/> | |||
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/> | |||
2) Set KP and KD<br /> | |||
=> in flight test, adjust KI | |||
<define name="HOVER_KP" value="300"/> | |||
<define name="HOVER_KD" value="100"/> | |||
<define name="HOVER_KI" value="0"/> | |||
3) Set KI, and adaptation | |||
<define name="HOVER_KP" value="300"/> | |||
<define name="HOVER_KD" value="100"/> | |||
<define name="HOVER_KI" value="15"/> | |||
<define name="NOMINAL_HOVER_THROTTLE" value="0.30"/> | |||
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/> | |||
<define name="ADAPT_NOISE_FACTOR" value="1."/> | |||
<define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.30"/> | |||
Latest revision as of 05:42, 29 September 2020
Tunning the vertical loop
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
Add following mode to telemetry file
<mode name="vert_loop" key_press="v">
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="0.9"/>
<message name="VFF" period=".05"/>
<message name="VFF_EXTENDED" period=".05"/>
<message name="VERT_LOOP" period=".05"/>
<message name="INS_Z" period=".05"/>
<message name="INS" period=".11"/>
<message name="INS_REF" period="5.1"/>
</mode>
Switch to NAV mode, takeoff, standby
Set telemetry from default to vert_loop
Plot in realtime
~/Projects/paparazzi/sw/ground_segment/tmtc/messages
~/Projects/paparazzi/sw/logalizer/plotter
or post process ground log and data files
~/Projects/paparazzi/sw/logalizer/logplotter ~/Projects/paparazzi/var/logs/xx.log
1) Start with no KI, and no adaptation, and set NOMINAL_HOVER_THROTTLE, from manual flight
=> in flight test, adjust KP and KD
<define name="HOVER_KP" value="90"/> <define name="HOVER_KD" value="120"/> <define name="HOVER_KI" value="0"/> <define name="NOMINAL_HOVER_THROTTLE" value="0.30"/> <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
2) Set KP and KD
=> in flight test, adjust KI
<define name="HOVER_KP" value="300"/> <define name="HOVER_KD" value="100"/> <define name="HOVER_KI" value="0"/>
3) Set KI, and adaptation
<define name="HOVER_KP" value="300"/> <define name="HOVER_KD" value="100"/> <define name="HOVER_KI" value="15"/> <define name="NOMINAL_HOVER_THROTTLE" value="0.30"/> <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/> <define name="ADAPT_NOISE_FACTOR" value="1."/> <define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.30"/>