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Tools: Update Callisto Model

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Leonard Hall 2022-07-14 14:25:51 +09:30 committed by Randy Mackay
parent bceaa10794
commit 7a5c71d8a4
2 changed files with 27 additions and 21 deletions
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4
Tools/autotest/models/Callisto.json
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@ -10,8 +10,8 @@
# the ref parameters should be taken from a test # the ref parameters should be taken from a test
# with the copter flying at constant speed in zero wind. This is used # with the copter flying at constant speed in zero wind. This is used
# to estimate the drag coefficient # to estimate the drag coefficient
"refSpd" : 14.88, # m/s "refSpd" : 25.0, # m/s
"refAngle" : 8.91, # degrees "refAngle" : 30.0, # degrees
"refVoltage" : 46.9, # volts "refVoltage" : 46.9, # volts
"refCurrent" : 65.36, # Amps "refCurrent" : 65.36, # Amps
"refAlt" : 26, # meters AMSL "refAlt" : 26, # meters AMSL

44
Tools/autotest/models/Callisto.param
View File

@ -1,32 +1,36 @@
ACRO_YAW_P,2
ANGLE_MAX,3000
ACRO_Y_RATE,90
ATC_ACCEL_P_MAX,30000 ATC_ACCEL_P_MAX,30000
ATC_ACCEL_R_MAX,30000 ATC_ACCEL_R_MAX,30000
ATC_ACCEL_Y_MAX,6000 ATC_ACCEL_Y_MAX,6000
ATC_ANG_PIT_P,6 ATC_ANG_PIT_P,8
ATC_ANG_RLL_P,6 ATC_ANG_RLL_P,8
ATC_ANG_YAW_P,5 ATC_ANG_YAW_P,5
ATC_INPUT_TC,0.25 ATC_INPUT_TC,0.25
ATC_RAT_PIT_D,0.0080 ATC_RAT_PIT_D,0.00375
ATC_RAT_PIT_FLTD,10 ATC_RAT_PIT_FLTD,10
ATC_RAT_PIT_I,0.1634 ATC_RAT_PIT_I,0.455
ATC_RAT_PIT_IMAX,0.5 ATC_RAT_PIT_P,0.455
ATC_RAT_PIT_P,0.1634 ATC_RAT_RLL_D,0.00375
ATC_RAT_RLL_D,0.0085
ATC_RAT_RLL_FLTD,10 ATC_RAT_RLL_FLTD,10
ATC_RAT_RLL_I,0.1671 ATC_RAT_RLL_I,0.455
ATC_RAT_RLL_IMAX,0.5 ATC_RAT_RLL_P,0.455
ATC_RAT_RLL_P,0.1671 ATC_RAT_YAW_FLTE,10
ATC_RAT_YAW_I,0.05 ATC_RAT_YAW_I,0.05
ATC_RAT_YAW_P,0.5 ATC_RAT_YAW_P,0.5
ATC_SLEW_YAW,3000 ATC_SLEW_YAW,3000
ATC_THR_MIX_MAX,2 ATC_THR_MIX_MAX,2
AUTOTUNE_AGGR,0.1 EK3_DRAG_BCOEF_X,91.2220
AUTOTUNE_MIN_D,0.001 EK3_DRAG_BCOEF_Y,91.2220
EK3_DRAG_MCOEF,0.0760
FOLL_ALT_TYPE,1
FOLL_DIST_MAX,10000
FOLL_ENABLE,1
FOLL_OFS_TYPE,1
FRAME_CLASS,4 FRAME_CLASS,4
FRAME_TYPE,1 FRAME_TYPE,1
INS_ACCEL_FILTER,10 INS_ACCEL_FILTER,10
LOIT_ACC_MAX,457.2916
LOIT_ANG_MAX,25 LOIT_ANG_MAX,25
MOT_BAT_CURR_TC,2 MOT_BAT_CURR_TC,2
MOT_BAT_VOLT_MAX,50.4 MOT_BAT_VOLT_MAX,50.4
@ -40,15 +44,17 @@ MOT_SPIN_MIN,0.2
MOT_THST_EXPO,0.5 MOT_THST_EXPO,0.5
MOT_THST_HOVER,0.52 MOT_THST_HOVER,0.52
MOT_YAW_HEADROOM,50 MOT_YAW_HEADROOM,50
PILOT_THR_BHV,3
PILOT_Y_RATE,60
PSC_ACCZ_FLTD,10 PSC_ACCZ_FLTD,10
PSC_ACCZ_FLTE,0 PSC_ACCZ_FLTE,0
PSC_ACCZ_FLTT,10 PSC_ACCZ_FLTT,10
PSC_ACCZ_I,0.5 PSC_ACCZ_I,1.0
PSC_ACCZ_P,0.25
PSC_ANGLE_MAX,45 PSC_ANGLE_MAX,45
PSC_POSXY_P,1 PSC_JERK_Z,10
PSC_POSZ_P,0.5 PSC_POSZ_P,0.5
PSC_VELZ_P,2.5 PSC_VELZ_P,2.5
WPNAV_ACCEL,250 WP_YAW_BEHAVIOR,1
WPNAV_RFND_USE,0
WPNAV_SPEED,1500 WPNAV_SPEED,1500
SIM_BATT_VOLTAGE 50 SIM_BATT_VOLTAGE 50