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Better Yaw P values, better Sonar hold values. 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2429 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-05-28 06:52:56 +00:00
parent 7b185ca23d
commit 85fde4a6cf
4 changed files with 8 additions and 6 deletions
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6
ArduCopterMega/Attitude.pde
View File

@ -241,13 +241,14 @@ output_yaw_with_hold(boolean hold)
yaw_error = wrap_180(yaw_error); yaw_error = wrap_180(yaw_error);
// limit the error we're feeding to the PID // limit the error we're feeding to the PID
yaw_error = constrain(yaw_error, -4000, 4000); // limit error to 60 degees yaw_error = constrain(yaw_error, -4000, 4000); // limit error to 40 degees
// Apply PID and save the new angle back to RC_Channel // Apply PID and save the new angle back to RC_Channel
g.rc_4.servo_out = g.pid_yaw.get_pi(yaw_error, delta_ms_fast_loop, 1.0); // .4 * 4000 = 1600 g.rc_4.servo_out = g.pid_yaw.get_pi(yaw_error, delta_ms_fast_loop, 1.0); // .4 * 4000 = 1600
// add in yaw dampener // add in yaw dampener
g.rc_4.servo_out -= constrain(dampener, -1600, 1600); g.rc_4.servo_out -= dampener;
yaw_debug = YAW_HOLD; //0 yaw_debug = YAW_HOLD; //0
}else{ }else{
@ -265,6 +266,7 @@ output_yaw_with_hold(boolean hold)
long error = ((long)g.rc_4.control_in * 6) - (rate * 2); // control is += 6000 * 6 = 36000 long error = ((long)g.rc_4.control_in * 6) - (rate * 2); // control is += 6000 * 6 = 36000
g.rc_4.servo_out = g.pid_acro_rate_yaw.get_pid(error, delta_ms_fast_loop, 1.0); // kP .07 * 36000 = 2520 g.rc_4.servo_out = g.pid_acro_rate_yaw.get_pid(error, delta_ms_fast_loop, 1.0); // kP .07 * 36000 = 2520
yaw_debug = YAW_RATE; // 2 yaw_debug = YAW_RATE; // 2
nav_yaw = dcm.yaw_sensor; //
} }
} }

2
ArduCopterMega/Log.pde
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@ -489,7 +489,7 @@ void Log_Write_Control_Tuning()
DataFlash.WriteByte(yaw_debug); DataFlash.WriteByte(yaw_debug);
DataFlash.WriteInt((int)(dcm.yaw_sensor/100)); DataFlash.WriteInt((int)(dcm.yaw_sensor/100));
DataFlash.WriteInt((int)(nav_yaw/100)); DataFlash.WriteInt((int)(nav_yaw/100));
DataFlash.WriteInt((int)yaw_error); DataFlash.WriteInt((int)yaw_error/100);
DataFlash.WriteInt((int)(omega.z * 1000)); DataFlash.WriteInt((int)(omega.z * 1000));
// Alt hold // Alt hold

4
ArduCopterMega/config.h
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@ -354,13 +354,13 @@
// YAW Control // YAW Control
// //
#ifndef YAW_P #ifndef YAW_P
# define YAW_P 0.4 // increase for more aggressive Yaw Hold, decrease if it's bouncy # define YAW_P 0.6 // increase for more aggressive Yaw Hold, decrease if it's bouncy
#endif #endif
#ifndef YAW_I #ifndef YAW_I
# define YAW_I 0.01 // set to .0001 to try and get over user's steady state error caused by poor balance # define YAW_I 0.01 // set to .0001 to try and get over user's steady state error caused by poor balance
#endif #endif
#ifndef YAW_D #ifndef YAW_D
# define YAW_D 0.05 // Trying a lower value to prevent odd behavior # define YAW_D 0.1 // Trying a lower value to prevent odd behavior
#endif #endif
#ifndef YAW_IMAX #ifndef YAW_IMAX
# define YAW_IMAX 1 // degrees * 100 # define YAW_IMAX 1 // degrees * 100

2
ArduCopterMega/system.pde
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@ -37,7 +37,7 @@ const struct Menu::command main_menu_commands[] PROGMEM = {
}; };
// Create the top-level menu object. // Create the top-level menu object.
MENU(main_menu, "AC 2.0.16 Beta", main_menu_commands); MENU(main_menu, "AC 2.0.17 Beta", main_menu_commands);
void init_ardupilot() void init_ardupilot()
{ {