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Adjustments to the Inertial_nav 

lowered Rate_I and Rate_P to be less jumpy. raised throttle_p
added a clear to rate when entering loiter
moved the raw reporting
This commit is contained in:
Jason Short 2012-06-14 22:18:26 -07:00
parent fb93d65457
commit 8b212d8baa
3 changed files with 11 additions and 7 deletions
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6
ArduCopter/APM_Config.h
View File

@ -52,14 +52,14 @@
#define ALT_HOLD_IMAX 300 #define ALT_HOLD_IMAX 300
// RATE control // RATE control
#define THROTTLE_P 2 // #define THROTTLE_P 3 //
#define THROTTLE_I 0.5 // Don't edit #define THROTTLE_I 0.5 // Don't edit
#define THROTTLE_D 0.0 // #define THROTTLE_D 0.0 //
#define LOITER_P 0.50 #define LOITER_P 0.50
#define LOITER_I 0.0 #define LOITER_I 0.0
#define LOITER_RATE_P 12 // #define LOITER_RATE_P 5 //
#define LOITER_RATE_I 1.0 // Wind control #define LOITER_RATE_I 0.1 // Wind control
#define LOITER_RATE_D 0.0 // try 2 or 3 for LOITER_RATE 1 #define LOITER_RATE_D 0.0 // try 2 or 3 for LOITER_RATE 1
#endif #endif

9
ArduCopter/inertia.pde
View File

@ -36,6 +36,11 @@ void z_error_correction()
accels_velocity.z += speed_error.z * 0.0350; //speed_correction_z; accels_velocity.z += speed_error.z * 0.0350; //speed_correction_z;
accels_velocity.z -= g.pid_throttle.get_integrator() * 0.0045; //g.alt_offset_correction; // OK accels_velocity.z -= g.pid_throttle.get_integrator() * 0.0045; //g.alt_offset_correction; // OK
accels_offset.z -= g.pid_throttle.get_integrator() * 0.000003; //g.alt_i_correction ; // .000002; accels_offset.z -= g.pid_throttle.get_integrator() * 0.000003; //g.alt_i_correction ; // .000002;
// For developement only
// ---------------------
if(motors.armed())
Log_Write_Raw();
} }
void xy_error_correction() void xy_error_correction()
@ -62,10 +67,6 @@ void xy_error_correction()
accels_offset.y -= g.pid_loiter_rate_lat.get_integrator() * 0.000003; // g.loiter_i_correction; accels_offset.y -= g.pid_loiter_rate_lat.get_integrator() * 0.000003; // g.loiter_i_correction;
// For developement only
// ---------------------
if(motors.armed())
Log_Write_Raw();
} }
static void calibrate_accels() static void calibrate_accels()

3
ArduCopter/system.pde
View File

@ -465,6 +465,9 @@ static void set_mode(byte mode)
roll_pitch_mode = LOITER_RP; roll_pitch_mode = LOITER_RP;
throttle_mode = LOITER_THR; throttle_mode = LOITER_THR;
set_next_WP(&current_loc); set_next_WP(&current_loc);
#if INERTIAL_NAV == ENABLED
zero_accels();
#endif
break; break;
case POSITION: case POSITION: