Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-22 00:28:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

Frame_params: Solo notch filter params

Browse Source 
Adds the dynamic harmonic notch filter and static notch filter to the Solo's default parameters.  PID tuning parameters for the green cube Solo adjusted to take advantage of the better control.
This commit is contained in:
Matt Lawrence 2019-11-09 12:37:44 -05:00 committed by Andrew Tridgell
parent 6296b7ae32
commit 35a51968c1
4 changed files with 49 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
Tools/Frame_params/Solo_Copter-3.7_BlackCube.param
View File

@ -69,6 +69,15 @@ GPS_NAVFILTER,6
GPS_TYPE,1 GPS_TYPE,1
INS_ACC_BODYFIX,3 INS_ACC_BODYFIX,3
INS_FAST_SAMPLE,3 INS_FAST_SAMPLE,3
INS_HNTCH_ATT,40
INS_HNTCH_ENABLE,1
INS_HNTCH_REF,0.26
INS_HNTCH_FREQ,200
INS_HNTCH_BW,100
INS_NOTCH_ATT,40
INS_NOTCH_ENABLE,1
INS_NOTCH_FREQ,98
INS_NOTCH_BW,49
INS_TRIM_OPTION,2 INS_TRIM_OPTION,2
LAND_ALT_LOW,600 LAND_ALT_LOW,600
LAND_SPEED,45 LAND_SPEED,45

19
Tools/Frame_params/Solo_Copter-3.7_GreenCube.param
View File

@ -15,14 +15,14 @@ ATC_ANG_PIT_P,10
ATC_ANG_RLL_P,9 ATC_ANG_RLL_P,9
ATC_ANG_YAW_P,6 ATC_ANG_YAW_P,6
ATC_INPUT_TC,0.15 ATC_INPUT_TC,0.15
ATC_RAT_PIT_D,0.006 ATC_RAT_PIT_D,0.0075
ATC_RAT_PIT_I,0.09 ATC_RAT_PIT_I,0.270
ATC_RAT_PIT_IMAX,0.444 ATC_RAT_PIT_IMAX,0.444
ATC_RAT_PIT_P,0.167 ATC_RAT_PIT_P,0.270
ATC_RAT_RLL_D,0.005 ATC_RAT_RLL_D,0.005
ATC_RAT_RLL_I,0.12 ATC_RAT_RLL_I,0.200
ATC_RAT_RLL_IMAX,0.444 ATC_RAT_RLL_IMAX,0.444
ATC_RAT_RLL_P,0.086 ATC_RAT_RLL_P,0.200
ATC_RAT_YAW_FILT,5 ATC_RAT_YAW_FILT,5
ATC_RAT_YAW_FLTE,5 ATC_RAT_YAW_FLTE,5
ATC_RAT_YAW_I,0.05 ATC_RAT_YAW_I,0.05
@ -68,6 +68,15 @@ GPS_NAVFILTER,6
GPS_TYPE,1 GPS_TYPE,1
INS_ACC_BODYFIX,3 INS_ACC_BODYFIX,3
INS_FAST_SAMPLE,3 INS_FAST_SAMPLE,3
INS_HNTCH_ATT,40
INS_HNTCH_ENABLE,1
INS_HNTCH_REF,0.26
INS_HNTCH_FREQ,200
INS_HNTCH_BW,100
INS_NOTCH_ATT,40
INS_NOTCH_ENABLE,1
INS_NOTCH_FREQ,98
INS_NOTCH_BW,49
INS_TRIM_OPTION,2 INS_TRIM_OPTION,2
LAND_ALT_LOW,600 LAND_ALT_LOW,600
LAND_SPEED,45 LAND_SPEED,45

10
Tools/Frame_params/test params stock solo.param Normal file
View File

@ -0,0 +1,10 @@
# New stock cube notch params for chris to try
INS_HNTCH_ATT,40
INS_HNTCH_ENABLE,1
INS_HNTCH_REF,0.26
INS_HNTCH_FREQ,200
INS_HNTCH_BW,100
INS_NOTCH_ATT,40
INS_NOTCH_ENABLE,1
INS_NOTCH_FREQ,98
INS_NOTCH_BW,49

16
Tools/Frame_params/test params.param Normal file
View File

@ -0,0 +1,16 @@
# New Green Cube tuning and notch params for chris to try
ATC_RAT_PIT_D,0.008
ATC_RAT_PIT_I,0.280
ATC_RAT_PIT_P,0.280
ATC_RAT_RLL_D,0.005
ATC_RAT_RLL_I,0.108
ATC_RAT_RLL_P,0.108
INS_HNTCH_ATT,40
INS_HNTCH_ENABLE,1
INS_HNTCH_REF,0.26
INS_HNTCH_FREQ,200
INS_HNTCH_BW,100
INS_NOTCH_ATT,40
INS_NOTCH_ENABLE,1
INS_NOTCH_FREQ,98
INS_NOTCH_BW,49