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Copter: Set better default Rate PIDs for TradHeli

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Robert Lefebvre 2015-05-21 15:50:30 -04:00 committed by Randy Mackay
parent 73bafa131e
commit 575a5ad619
2 changed files with 24 additions and 3 deletions
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6
ArduCopter/Parameters.h
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@ -529,9 +529,15 @@ public:
// PID controller initial P initial I initial D initial imax initial filt hz pid rate // PID controller initial P initial I initial D initial imax initial filt hz pid rate
//--------------------------------------------------------------------------------------------------------------------------------- //---------------------------------------------------------------------------------------------------------------------------------
#if FRAME_CONFIG == HELI_FRAME
pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX, RATE_ROLL_FILT_HZ, MAIN_LOOP_SECONDS, RATE_ROLL_FF),
pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX, RATE_PITCH_FILT_HZ, MAIN_LOOP_SECONDS, RATE_PITCH_FF),
pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX, RATE_YAW_FILT_HZ, MAIN_LOOP_SECONDS, RATE_YAW_FF),
#else
pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX, RATE_ROLL_FILT_HZ, MAIN_LOOP_SECONDS), pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX, RATE_ROLL_FILT_HZ, MAIN_LOOP_SECONDS),
pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX, RATE_PITCH_FILT_HZ, MAIN_LOOP_SECONDS), pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX, RATE_PITCH_FILT_HZ, MAIN_LOOP_SECONDS),
pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX, RATE_YAW_FILT_HZ, MAIN_LOOP_SECONDS), pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX, RATE_YAW_FILT_HZ, MAIN_LOOP_SECONDS),
#endif
pi_vel_xy (VEL_XY_P, VEL_XY_I, VEL_XY_IMAX, VEL_XY_FILT_HZ, WPNAV_LOITER_UPDATE_TIME), pi_vel_xy (VEL_XY_P, VEL_XY_I, VEL_XY_IMAX, VEL_XY_FILT_HZ, WPNAV_LOITER_UPDATE_TIME),

21
ArduCopter/config.h
View File

@ -104,9 +104,24 @@
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
# define RC_FAST_SPEED 125 # define RC_FAST_SPEED 125
# define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AHEAD # define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AHEAD
# define RATE_ROLL_D 0 # define RATE_ROLL_P 0.02
# define RATE_PITCH_D 0 # define RATE_ROLL_I 0.5
# define MPU6K_FILTER 10 # define RATE_ROLL_D 0.001
# define RATE_ROLL_IMAX 4500
# define RATE_ROLL_FF 0.05
# define RATE_ROLL_FILT_HZ 20.0f
# define RATE_PITCH_P 0.02
# define RATE_PITCH_I 0.5
# define RATE_PITCH_D 0.001
# define RATE_PITCH_IMAX 4500
# define RATE_PITCH_FF 0.05
# define RATE_PITCH_FILT_HZ 20.0f
# define RATE_YAW_P 0.15
# define RATE_YAW_I 0.100
# define RATE_YAW_D 0.003
# define RATE_YAW_IMAX 4500
# define RATE_YAW_FF 0.02
# define RATE_YAW_FILT_HZ 20.0f
# define HELI_STAB_COLLECTIVE_MIN_DEFAULT 0 # define HELI_STAB_COLLECTIVE_MIN_DEFAULT 0
# define HELI_STAB_COLLECTIVE_MAX_DEFAULT 1000 # define HELI_STAB_COLLECTIVE_MAX_DEFAULT 1000
# define THR_MIN_DEFAULT 0 # define THR_MIN_DEFAULT 0