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Updated apo rates.

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This commit is contained in:
James Goppert 2011-10-18 20:11:14 -04:00
parent b3ca747a69
commit 0bb0059d35
2 changed files with 6 additions and 6 deletions
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10
apo/QuadArducopter.h
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@ -11,7 +11,7 @@
// vehicle options
static const apo::vehicle_t vehicle = apo::VEHICLE_QUAD;
static const apo::halMode_t halMode = apo::MODE_LIVE;
static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_2560;
static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_1280;
static const uint8_t heartBeatTimeout = 3;
// algorithm selection
@ -54,9 +54,9 @@ static const bool rangeFinderUpEnabled = false;
static const bool rangeFinderDownEnabled = false;
// loop rates
static const float loopRate = 150; // attitude nav
static const float loopRate = 400; // attitude nav
static const float loop0Rate = 50; // controller
static const float loop1Rate = 5; // pos nav/ gcs fast
static const float loop1Rate = 10; // pos nav/ gcs fast
static const float loop2Rate = 1; // gcs slow
static const float loop3Rate = 0.1;
@ -77,7 +77,7 @@ static const float PID_POS_DFCUT = 10; // cut derivative feedback at 10 hz
static const float PID_ATT_P = 0.17;
static const float PID_ATT_I = 0.5;
static const float PID_ATT_D = 0.06;
static const float PID_ATT_LIM = 0.05; // 10 %
static const float PID_ATT_LIM = 0.05; // 5 % motors
static const float PID_ATT_AWU = 0.005; // 0.5 %
static const float PID_ATT_DFCUT = 25; // cut derivative feedback at 25 hz
static const float PID_YAWPOS_P = 0;
@ -88,7 +88,7 @@ static const float PID_YAWPOS_AWU = 0; // 1 rad/s
static const float PID_YAWSPEED_P = 0.5;
static const float PID_YAWSPEED_I = 0;
static const float PID_YAWSPEED_D = 0;
static const float PID_YAWSPEED_LIM = .1; // 10 % MOTORs
static const float PID_YAWSPEED_LIM = .05; // 5 % motors
static const float PID_YAWSPEED_AWU = 0.0;
static const float PID_YAWSPEED_DFCUT = 3.0; // 3 Radians, about 1 Hz

2
libraries/APO/AP_Navigator.cpp
View File

@ -121,7 +121,7 @@ void DcmNavigator::updateFast(float dt) {
// dcm class for attitude
if (_dcm) {
_dcm->update_DCM();
_dcm->update_DCM_fast();
setRoll(_dcm->roll);
setPitch(_dcm->pitch);
setYaw(_dcm->yaw);