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Tools: AION R1 default params use steering feed-forward

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Also add wheel encoder defaults
This commit is contained in:
Randy Mackay 2018-01-04 14:03:52 +09:00
parent 368698d173
commit 7b0b9f10de
1 changed files with 12 additions and 10 deletions
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22
Tools/Frame_params/AION_R1_Rover.param
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@ -9,8 +9,9 @@ ATC_SPEED_P,0.2
ATC_SPEED_I,0.2 ATC_SPEED_I,0.2
ATC_SPEED_D,0.0 ATC_SPEED_D,0.0
ATC_SPEED_FILT,10 ATC_SPEED_FILT,10
ATC_STR_RAT_P,0.5 ATC_STR_RAT_FF,0.2
ATC_STR_RAT_I,0.6 ATC_STR_RAT_P,0.0
ATC_STR_RAT_I,0.1
ATC_STR_RAT_D,0.0 ATC_STR_RAT_D,0.0
ATC_STR_RAT_FILT,20 ATC_STR_RAT_FILT,20
AUX_CH,7 AUX_CH,7
@ -25,6 +26,7 @@ BATT_MONITOR,4
BATT_SERIAL_NUM,-1 BATT_SERIAL_NUM,-1
BATT_VOLT_MULT,13.99818 BATT_VOLT_MULT,13.99818
BATT_VOLT_PIN,2 BATT_VOLT_PIN,2
BRD_PWM_COUNT,2
#default save waypoint #default save waypoint
CH7_OPTION,1 CH7_OPTION,1
#default use only first (hopefully external) compass #default use only first (hopefully external) compass
@ -59,19 +61,19 @@ SERVO3_MIN,1000
SPEED_TURN_GAIN,50 SPEED_TURN_GAIN,50
TURN_MAX_G,0.3 TURN_MAX_G,0.3
TURN_RADIUS,0.9 TURN_RADIUS,0.9
WENC_CPR,3200 WENC_CPR,1120
WENC_PINA,55 WENC_PINA,55
WENC_PINB,54 WENC_PINB,54
WENC_POS_X,0 WENC_POS_X,-0.15
WENC_POS_Y,0 WENC_POS_Y,-0.16
WENC_POS_Z,0 WENC_POS_Z,0
WENC_RADIUS,0.078 WENC_RADIUS,0.0775
WENC_TYPE,0 WENC_TYPE,0
WENC2_CPR,3200 WENC2_CPR,1120
WENC2_PINA,53 WENC2_PINA,53
WENC2_PINB,52 WENC2_PINB,52
WENC2_POS_X,0 WENC2_POS_X,-0.15
WENC2_POS_Y,0 WENC2_POS_Y,0.16
WENC2_POS_Z,0 WENC2_POS_Z,0
WENC_RADIUS,0.078 WENC_RADIUS,0.0775
WENC2_TYPE,0 WENC2_TYPE,0