From fb790caddacdc62d2914210cd208e2100934cf9f Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Fri, 28 Jun 2019 15:15:06 +0930 Subject: [PATCH] Tools: update parameter files after PID upgrade --- Tools/Frame_params/3DR_Iris+_AC34.param | 3 +++ Tools/Frame_params/ArduRoller-balancebot.param | 1 + Tools/Frame_params/EFlight_Convergence.param | 3 +++ Tools/Frame_params/Holybro-kospi1.param | 3 +++ Tools/Frame_params/Parrot_Bebop.param | 3 +++ Tools/Frame_params/Parrot_Bebop2.param | 3 +++ Tools/Frame_params/SkyViper-2450GPS/defaults.parm | 3 +++ Tools/Frame_params/SkyViper-F412/defaults.parm | 3 +++ Tools/Frame_params/Solo_Copter-3.5_GreenCube.param | 1 + Tools/Frame_params/Solo_Copter-3.6_GreenCube.param | 1 + Tools/Frame_params/Solo_Copter-3.7_BlackCube.param | 1 + Tools/Frame_params/Solo_Copter-3.7_GreenCube.param | 1 + Tools/Frame_params/Sub/bluerov2-3_5.params | 4 ++++ Tools/Frame_params/Sub/bluerov2-3_5_2.params | 3 +++ Tools/Frame_params/Sub/bluerov2-heavy-3_5_2.params | 4 ++++ Tools/Frame_params/TradHeli_Copter36_Setup-MP.param | 4 ++++ Tools/Frame_params/TradHeli_Copter36_Setup-QGC.params | 4 ++++ Tools/Frame_params/TradHeli_Copter36_Upgrade-MP.param | 1 + Tools/Frame_params/TradHeli_Copter36_Upgrade-QGC.params | 1 + Tools/Frame_params/WLToys_V383_HeliQuad.param | 3 +++ Tools/Frame_params/eLAB_EX1050_AC34.param | 2 ++ Tools/Frame_params/eLAB_EX700_AC34.param | 2 ++ Tools/Frame_params/eLAB_LAB470_AC35.param | 3 +++ Tools/Frame_params/intel-aero-rtf-cb.param | 3 +++ Tools/Frame_params/intel-aero-rtf.param | 3 +++ Tools/autotest/default_params/copter-hexa.parm | 2 +- Tools/autotest/default_params/copter-octaquad.parm | 2 +- Tools/autotest/default_params/copter-single.parm | 6 +++--- Tools/autotest/default_params/copter-y6.parm | 2 +- libraries/SITL/examples/Morse/quadcopter.parm | 6 +++--- 30 files changed, 72 insertions(+), 9 deletions(-) diff --git a/Tools/Frame_params/3DR_Iris+_AC34.param b/Tools/Frame_params/3DR_Iris+_AC34.param index 60a074ab90..9af7027ca0 100644 --- a/Tools/Frame_params/3DR_Iris+_AC34.param +++ b/Tools/Frame_params/3DR_Iris+_AC34.param @@ -14,16 +14,19 @@ ATC_ANG_RLL_P,11.25 ATC_ANG_YAW_P,6 ATC_RAT_PIT_D,0.008325 ATC_RAT_PIT_FILT,20 +ATC_RAT_PIT_FLTD,20 ATC_RAT_PIT_I,0.126 ATC_RAT_PIT_IMAX,0.2222222 ATC_RAT_PIT_P,0.126 ATC_RAT_RLL_D,0.01125 ATC_RAT_RLL_FILT,20 +ATC_RAT_RLL_FLTD,20 ATC_RAT_RLL_I,0.18225 ATC_RAT_RLL_IMAX,0.2222222 ATC_RAT_RLL_P,0.18225 ATC_RAT_YAW_D,0.0036 ATC_RAT_YAW_FILT,5 +ATC_RAT_YAW_FLTE,5 ATC_RAT_YAW_I,0.036 ATC_RAT_YAW_IMAX,0.222 ATC_RAT_YAW_P,0.36 diff --git a/Tools/Frame_params/ArduRoller-balancebot.param b/Tools/Frame_params/ArduRoller-balancebot.param index c163ee409f..9bae788f02 100644 --- a/Tools/Frame_params/ArduRoller-balancebot.param +++ b/Tools/Frame_params/ArduRoller-balancebot.param @@ -5,6 +5,7 @@ ATC_ACCEL_MAX,1 ATC_BAL_D,0.01 ATC_BAL_FF,0 ATC_BAL_FILT,0 +ATC_BAL_FLTE,0 ATC_BAL_I,7 ATC_BAL_IMAX,1 ATC_BAL_P,1.2 diff --git a/Tools/Frame_params/EFlight_Convergence.param b/Tools/Frame_params/EFlight_Convergence.param index 57c7e354a9..086dd1f674 100644 --- a/Tools/Frame_params/EFlight_Convergence.param +++ b/Tools/Frame_params/EFlight_Convergence.param @@ -15,16 +15,19 @@ PTCH2SRV_IMAX,4000 PTCH2SRV_P,1.1 Q_A_RAT_PIT_D,0.005 Q_A_RAT_PIT_FILT,10 +Q_A_RAT_PIT_FLTD,10 Q_A_RAT_PIT_I,0.25 Q_A_RAT_PIT_P,0.3 Q_A_RAT_RLL_D,0.005 Q_A_RAT_RLL_FILT,10 +Q_A_RAT_RLL_FLTD,10 Q_A_RAT_RLL_I,0.25 Q_A_RAT_RLL_IMAX,0.5 Q_A_RAT_RLL_P,0.3 Q_A_RAT_YAW_D,0 Q_A_RAT_YAW_FF,0 Q_A_RAT_YAW_FILT,2 +Q_A_RAT_YAW_FLTE,2 Q_A_RAT_YAW_I,0.018 Q_A_RAT_YAW_IMAX,0.7 Q_A_RAT_YAW_P,0.1 diff --git a/Tools/Frame_params/Holybro-kospi1.param b/Tools/Frame_params/Holybro-kospi1.param index ca325c6c89..83c0273543 100644 --- a/Tools/Frame_params/Holybro-kospi1.param +++ b/Tools/Frame_params/Holybro-kospi1.param @@ -12,13 +12,16 @@ ATC_ANG_YAW_P,14.1 ATC_INPUT_TC,0.05 ATC_RAT_PIT_D,0.001486 ATC_RAT_PIT_FILT,40 +ATC_RAT_PIT_FLTD,40 ATC_RAT_PIT_I,0.066914 ATC_RAT_PIT_P,0.066914 ATC_RAT_RLL_D,0.001125 ATC_RAT_RLL_FILT,40 +ATC_RAT_RLL_FLTD,40 ATC_RAT_RLL_I,0.054774 ATC_RAT_RLL_P,0.054774 ATC_RAT_YAW_FILT,3.491686 +ATC_RAT_YAW_FLTE,3.491686 ATC_RAT_YAW_I,0.02087 ATC_RAT_YAW_P,0.208696 BATT_MONITOR,4 diff --git a/Tools/Frame_params/Parrot_Bebop.param b/Tools/Frame_params/Parrot_Bebop.param index 471f5c10c0..f5dc650f5f 100644 --- a/Tools/Frame_params/Parrot_Bebop.param +++ b/Tools/Frame_params/Parrot_Bebop.param @@ -5,14 +5,17 @@ ATC_ACCEL_R_MAX,220000 ATC_ACCEL_Y_MAX,56000 ATC_RAT_PIT_D,0.0022 ATC_RAT_PIT_FILT,40 +ATC_RAT_PIT_FLTD,40 ATC_RAT_PIT_I,0.126 ATC_RAT_PIT_P,0.126 ATC_RAT_RLL_D,0.0005 ATC_RAT_RLL_FILT,40 +ATC_RAT_RLL_FLTD,40 ATC_RAT_RLL_I,0.11 ATC_RAT_RLL_P,0.11 ATC_RAT_YAW_D,0 ATC_RAT_YAW_FILT,3.0 +ATC_RAT_YAW_FLTE,3.0 ATC_RAT_YAW_I,0.103 ATC_RAT_YAW_P,1.03 ATC_ANG_PIT_P,15 diff --git a/Tools/Frame_params/Parrot_Bebop2.param b/Tools/Frame_params/Parrot_Bebop2.param index bcae937af2..621b914dc1 100644 --- a/Tools/Frame_params/Parrot_Bebop2.param +++ b/Tools/Frame_params/Parrot_Bebop2.param @@ -5,14 +5,17 @@ ATC_ACCEL_R_MAX,220000 ATC_ACCEL_Y_MAX,56000 ATC_RAT_PIT_D,0.000662 ATC_RAT_PIT_FILT,40 +ATC_RAT_PIT_FLTD,40 ATC_RAT_PIT_I,0.0888 ATC_RAT_PIT_P,0.0888 ATC_RAT_RLL_D,0.000439 ATC_RAT_RLL_FILT,40 +ATC_RAT_RLL_FLTD,40 ATC_RAT_RLL_I,0.1066 ATC_RAT_RLL_P,0.1066 ATC_RAT_YAW_D,0 ATC_RAT_YAW_FILT,1.001376 +ATC_RAT_YAW_FLTE,1.001376 ATC_RAT_YAW_I,0.08411 ATC_RAT_YAW_P,0.8411 ATC_ANG_PIT_P,15 diff --git a/Tools/Frame_params/SkyViper-2450GPS/defaults.parm b/Tools/Frame_params/SkyViper-2450GPS/defaults.parm index b546f33905..4e9b54b66e 100644 --- a/Tools/Frame_params/SkyViper-2450GPS/defaults.parm +++ b/Tools/Frame_params/SkyViper-2450GPS/defaults.parm @@ -132,11 +132,13 @@ ATC_ANG_RLL_P 8.0 ATC_ANG_YAW_P 7.16 ATC_RAT_PIT_D 0.0069 ATC_RAT_PIT_FILT 10 +ATC_RAT_PIT_FLTD 10 ATC_RAT_PIT_IMAX 0.5 ATC_RAT_PIT_I 0.0834 ATC_RAT_PIT_P 0.0834 ATC_RAT_RLL_D 0.007 ATC_RAT_RLL_FILT 10 +ATC_RAT_RLL_FLTD 10 ATC_RAT_RLL_I 0.0966 ATC_RAT_RLL_P 0.0966 ATC_RAT_RLL_IMAX 0.5 @@ -145,6 +147,7 @@ ATC_RAT_YAW_I 0.0689 ATC_RAT_YAW_IMAX 0.3 ATC_RAT_YAW_D 0.0 ATC_RAT_YAW_FILT 4.5125 +ATC_RAT_YAW_FLTE 4.5125 ATC_SLEW_YAW 3250 ATC_THR_MIX_MAN 4 ATC_THR_MIX_MAX 0.9 diff --git a/Tools/Frame_params/SkyViper-F412/defaults.parm b/Tools/Frame_params/SkyViper-F412/defaults.parm index 4dbce9c352..8b9942510d 100644 --- a/Tools/Frame_params/SkyViper-F412/defaults.parm +++ b/Tools/Frame_params/SkyViper-F412/defaults.parm @@ -131,11 +131,13 @@ ATC_ANG_RLL_P 8.0 ATC_ANG_YAW_P 7.16 ATC_RAT_PIT_D 0.0069 ATC_RAT_PIT_FILT 10 +ATC_RAT_PIT_FLTD 10 ATC_RAT_PIT_IMAX 0.5 ATC_RAT_PIT_I 0.0834 ATC_RAT_PIT_P 0.0834 ATC_RAT_RLL_D 0.007 ATC_RAT_RLL_FILT 10 +ATC_RAT_RLL_FLTD 10 ATC_RAT_RLL_I 0.0966 ATC_RAT_RLL_P 0.0966 ATC_RAT_RLL_IMAX 0.5 @@ -144,6 +146,7 @@ ATC_RAT_YAW_I 0.0689 ATC_RAT_YAW_IMAX 0.3 ATC_RAT_YAW_D 0.0 ATC_RAT_YAW_FILT 4.5125 +ATC_RAT_YAW_FLTE 4.5125 ATC_SLEW_YAW 3250 ATC_THR_MIX_MAN 4 ATC_THR_MIX_MAX 0.9 diff --git a/Tools/Frame_params/Solo_Copter-3.5_GreenCube.param b/Tools/Frame_params/Solo_Copter-3.5_GreenCube.param index 810fa0cae8..894d482c33 100644 --- a/Tools/Frame_params/Solo_Copter-3.5_GreenCube.param +++ b/Tools/Frame_params/Solo_Copter-3.5_GreenCube.param @@ -21,6 +21,7 @@ ATC_RAT_RLL_I,0.12 ATC_RAT_RLL_IMAX,0.444 ATC_RAT_RLL_P,0.086 ATC_RAT_YAW_FILT,5 +ATC_RAT_YAW_FLTE,5 ATC_RAT_YAW_I,0.061 ATC_RAT_YAW_IMAX,0.222 ATC_RAT_YAW_P,0.617 diff --git a/Tools/Frame_params/Solo_Copter-3.6_GreenCube.param b/Tools/Frame_params/Solo_Copter-3.6_GreenCube.param index 141ea21f69..19e2ef0be8 100644 --- a/Tools/Frame_params/Solo_Copter-3.6_GreenCube.param +++ b/Tools/Frame_params/Solo_Copter-3.6_GreenCube.param @@ -22,6 +22,7 @@ ATC_RAT_RLL_I,0.12 ATC_RAT_RLL_IMAX,0.444 ATC_RAT_RLL_P,0.086 ATC_RAT_YAW_FILT,5 +ATC_RAT_YAW_FLTE,5 ATC_RAT_YAW_I,0.05 ATC_RAT_YAW_IMAX,0.222 ATC_RAT_YAW_P,0.5 diff --git a/Tools/Frame_params/Solo_Copter-3.7_BlackCube.param b/Tools/Frame_params/Solo_Copter-3.7_BlackCube.param index f16a9a4938..bf0dd7d7e0 100644 --- a/Tools/Frame_params/Solo_Copter-3.7_BlackCube.param +++ b/Tools/Frame_params/Solo_Copter-3.7_BlackCube.param @@ -24,6 +24,7 @@ ATC_RAT_RLL_I,0.091 ATC_RAT_RLL_IMAX,0.666 ATC_RAT_RLL_P,0.091 ATC_RAT_YAW_FILT,7.6 +ATC_RAT_YAW_FLTE,7.6 ATC_RAT_YAW_I,0.0594 ATC_RAT_YAW_IMAX,0.222 ATC_RAT_YAW_P,0.5949 diff --git a/Tools/Frame_params/Solo_Copter-3.7_GreenCube.param b/Tools/Frame_params/Solo_Copter-3.7_GreenCube.param index 85175628ca..5afe5dab12 100644 --- a/Tools/Frame_params/Solo_Copter-3.7_GreenCube.param +++ b/Tools/Frame_params/Solo_Copter-3.7_GreenCube.param @@ -24,6 +24,7 @@ ATC_RAT_RLL_I,0.12 ATC_RAT_RLL_IMAX,0.444 ATC_RAT_RLL_P,0.086 ATC_RAT_YAW_FILT,5 +ATC_RAT_YAW_FLTE,5 ATC_RAT_YAW_I,0.05 ATC_RAT_YAW_IMAX,0.222 ATC_RAT_YAW_P,0.5 diff --git a/Tools/Frame_params/Sub/bluerov2-3_5.params b/Tools/Frame_params/Sub/bluerov2-3_5.params index 6c18ae0ce3..72dcbe5900 100644 --- a/Tools/Frame_params/Sub/bluerov2-3_5.params +++ b/Tools/Frame_params/Sub/bluerov2-3_5.params @@ -1,6 +1,7 @@ ACCEL_Z_D,0.000000000000000000 ACCEL_Z_FF,0.000000000000000000 ACCEL_Z_FILT,20.000000000000000000 +ACCEL_Z_FLTD,20.000000000000000000 ACCEL_Z_I,0.100000001490116119 ACCEL_Z_IMAX,100.000000000000000000 ACCEL_Z_P,0.500000000000000000 @@ -36,18 +37,21 @@ ATC_RATE_FF_ENAB,1 ATC_RAT_PIT_D,0.003599999938160181 ATC_RAT_PIT_FF,0.000000000000000000 ATC_RAT_PIT_FILT,30.000000000000000000 +ATC_RAT_PIT_FLTD,30.000000000000000000 ATC_RAT_PIT_I,0.090000003576278687 ATC_RAT_PIT_IMAX,0.444000005722045898 ATC_RAT_PIT_P,0.135000005364418030 ATC_RAT_RLL_D,0.003599999938160181 ATC_RAT_RLL_FF,0.000000000000000000 ATC_RAT_RLL_FILT,30.000000000000000000 +ATC_RAT_RLL_FLTD,30.000000000000000000 ATC_RAT_RLL_I,0.090000003576278687 ATC_RAT_RLL_IMAX,0.444000005722045898 ATC_RAT_RLL_P,0.135000005364418030 ATC_RAT_YAW_D,0.000000000000000000 ATC_RAT_YAW_FF,0.000000000000000000 ATC_RAT_YAW_FILT,5.000000000000000000 +ATC_RAT_YAW_FLTE,5.000000000000000000 ATC_RAT_YAW_I,0.017999999225139618 ATC_RAT_YAW_IMAX,0.222000002861022949 ATC_RAT_YAW_P,0.180000007152557373 diff --git a/Tools/Frame_params/Sub/bluerov2-3_5_2.params b/Tools/Frame_params/Sub/bluerov2-3_5_2.params index 4cfaa9a276..bbf822712a 100644 --- a/Tools/Frame_params/Sub/bluerov2-3_5_2.params +++ b/Tools/Frame_params/Sub/bluerov2-3_5_2.params @@ -36,18 +36,21 @@ ATC_RATE_FF_ENAB,1 ATC_RAT_PIT_D,0.00359999993816 ATC_RAT_PIT_FF,0.0 ATC_RAT_PIT_FILT,30.0 +ATC_RAT_PIT_FLTD,30.0 ATC_RAT_PIT_I,0.0900000035763 ATC_RAT_PIT_IMAX,0.444000005722 ATC_RAT_PIT_P,0.135000005364 ATC_RAT_RLL_D,0.00359999993816 ATC_RAT_RLL_FF,0.0 ATC_RAT_RLL_FILT,30.0 +ATC_RAT_RLL_FLTD,30.0 ATC_RAT_RLL_I,0.0900000035763 ATC_RAT_RLL_IMAX,0.444000005722 ATC_RAT_RLL_P,0.135000005364 ATC_RAT_YAW_D,0.0 ATC_RAT_YAW_FF,0.0 ATC_RAT_YAW_FILT,5.0 +ATC_RAT_YAW_FLTE,5.0 ATC_RAT_YAW_I,0.0179999992251 ATC_RAT_YAW_IMAX,0.222000002861 ATC_RAT_YAW_P,0.180000007153 diff --git a/Tools/Frame_params/Sub/bluerov2-heavy-3_5_2.params b/Tools/Frame_params/Sub/bluerov2-heavy-3_5_2.params index eb0974e114..b0a4459344 100644 --- a/Tools/Frame_params/Sub/bluerov2-heavy-3_5_2.params +++ b/Tools/Frame_params/Sub/bluerov2-heavy-3_5_2.params @@ -1,6 +1,7 @@ ACCEL_Z_D,0.000000000000000000 ACCEL_Z_FF,0.000000000000000000 ACCEL_Z_FILT,20.000000000000000000 +ACCEL_Z_FLTD,20.000000000000000000 ACCEL_Z_I,0.100000001490116119 ACCEL_Z_IMAX,100.000000000000000000 ACCEL_Z_P,0.500000000000000000 @@ -36,18 +37,21 @@ ATC_RATE_FF_ENAB,1 ATC_RAT_PIT_D,0.003599999938160181 ATC_RAT_PIT_FF,0.000000000000000000 ATC_RAT_PIT_FILT,30.000000000000000000 +ATC_RAT_PIT_FLTD,30.000000000000000000 ATC_RAT_PIT_I,0.090000003576278687 ATC_RAT_PIT_IMAX,0.444000005722045898 ATC_RAT_PIT_P,0.135000005364418030 ATC_RAT_RLL_D,0.003599999938160181 ATC_RAT_RLL_FF,0.000000000000000000 ATC_RAT_RLL_FILT,30.000000000000000000 +ATC_RAT_RLL_FLTD,30.000000000000000000 ATC_RAT_RLL_I,0.090000003576278687 ATC_RAT_RLL_IMAX,0.444000005722045898 ATC_RAT_RLL_P,0.135000005364418030 ATC_RAT_YAW_D,0.000000000000000000 ATC_RAT_YAW_FF,0.000000000000000000 ATC_RAT_YAW_FILT,5.000000000000000000 +ATC_RAT_YAW_FLTE,5.000000000000000000 ATC_RAT_YAW_I,0.017999999225139618 ATC_RAT_YAW_IMAX,0.222000002861022949 ATC_RAT_YAW_P,0.180000007152557373 diff --git a/Tools/Frame_params/TradHeli_Copter36_Setup-MP.param b/Tools/Frame_params/TradHeli_Copter36_Setup-MP.param index fa2b69f3eb..65e2796748 100644 --- a/Tools/Frame_params/TradHeli_Copter36_Setup-MP.param +++ b/Tools/Frame_params/TradHeli_Copter36_Setup-MP.param @@ -15,6 +15,7 @@ ATC_RATE_R_MAX, 360 ATC_RATE_Y_MAX, 180 ATC_RAT_PIT_D 0.0008 ATC_RAT_PIT_FILT, 12 +ATC_RAT_PIT_FLTE, 12 ATC_RAT_PIT_I, 0.35 ATC_RAT_PIT_ILMI, 0.04 ATC_RAT_PIT_IMAX, 0.44 @@ -22,6 +23,7 @@ ATC_RAT_PIT_P, 0.04 ATC_RAT_PIT_VFF, 0.15 ATC_RAT_RLL_D, 0.0005 ATC_RAT_RLL_FILT, 13 +ATC_RAT_RLL_FLTE, 13 ATC_RAT_RLL_I, 0.32 ATC_RAT_RLL_ILMI, 0.03 ATC_RAT_RLL_IMAX, 0.44 @@ -29,6 +31,7 @@ ATC_RAT_RLL_P, 0.035 ATC_RAT_RLL_VFF, 0.15 ATC_RAT_YAW_D, 0.003 ATC_RAT_YAW_FILT, 20 +ATC_RAT_YAW_FLTE, 20 ATC_RAT_YAW_I, 0.30 ATC_RAT_YAW_ILMI, 0.01 ATC_RAT_YAW_IMAX, 0.33 @@ -51,6 +54,7 @@ PHLD_BRAKE_RATE, 4 PSC_ACCZ_D, 0.0 PSC_ACCZ_FF, 0.0 PSC_ACCZ_FILT, 20 +PSC_ACCZ_FLTD, 20 PSC_ACCZ_I, 1 PSC_ACCZ_IMAX, 800 PSC_ACCZ_P, 0.28 diff --git a/Tools/Frame_params/TradHeli_Copter36_Setup-QGC.params b/Tools/Frame_params/TradHeli_Copter36_Setup-QGC.params index c50b88f1d6..3a3dc1a59f 100644 --- a/Tools/Frame_params/TradHeli_Copter36_Setup-QGC.params +++ b/Tools/Frame_params/TradHeli_Copter36_Setup-QGC.params @@ -16,6 +16,7 @@ 1 1 ATC_RATE_Y_MAX 180 9 1 1 ATC_RAT_PIT_D 0.0008 9 1 1 ATC_RAT_PIT_FILT 12 9 +1 1 ATC_RAT_PIT_FLTE 12 9 1 1 ATC_RAT_PIT_I 0.35 9 1 1 ATC_RAT_PIT_ILMI 0.04 9 1 1 ATC_RAT_PIT_IMAX 0.44 9 @@ -23,6 +24,7 @@ 1 1 ATC_RAT_PIT_VFF 0.15 9 1 1 ATC_RAT_RLL_D 0.0005 9 1 1 ATC_RAT_RLL_FILT 13 9 +1 1 ATC_RAT_RLL_FLTE 13 9 1 1 ATC_RAT_RLL_I 0.32 9 1 1 ATC_RAT_RLL_ILMI 0.03 9 1 1 ATC_RAT_RLL_IMAX 0.44 9 @@ -30,6 +32,7 @@ 1 1 ATC_RAT_RLL_VFF 0.15 9 1 1 ATC_RAT_YAW_D 0.003 9 1 1 ATC_RAT_YAW_FILT 20 9 +1 1 ATC_RAT_YAW_FLTE 20 9 1 1 ATC_RAT_YAW_I 0.30 9 1 1 ATC_RAT_YAW_ILMI 0.001 9 1 1 ATC_RAT_YAW_IMAX 0.33 9 @@ -52,6 +55,7 @@ 1 1 PSC_ACCZ_D 0 9 1 1 PSC_ACCZ_FF 0 9 1 1 PSC_ACCZ_FILT 20 9 +1 1 PSC_ACCZ_FLTD 20 9 1 1 PSC_ACCZ_I 1 9 1 1 PSC_ACCZ_IMAX 800 9 1 1 PSC_ACCZ_P 0.28 9 diff --git a/Tools/Frame_params/TradHeli_Copter36_Upgrade-MP.param b/Tools/Frame_params/TradHeli_Copter36_Upgrade-MP.param index 87f7e91761..63945b866c 100644 --- a/Tools/Frame_params/TradHeli_Copter36_Upgrade-MP.param +++ b/Tools/Frame_params/TradHeli_Copter36_Upgrade-MP.param @@ -14,6 +14,7 @@ PHLD_BRAKE_RATE, 4 PSC_ACCZ_D, 0.0 PSC_ACCZ_FF, 0.0 PSC_ACCZ_FILT, 20 +PSC_ACCZ_FLTD, 20 PSC_ACCZ_I, 1 PSC_ACCZ_IMAX, 800 PSC_ACCZ_P, 0.28 diff --git a/Tools/Frame_params/TradHeli_Copter36_Upgrade-QGC.params b/Tools/Frame_params/TradHeli_Copter36_Upgrade-QGC.params index 717af6e0bd..065b34a7e2 100644 --- a/Tools/Frame_params/TradHeli_Copter36_Upgrade-QGC.params +++ b/Tools/Frame_params/TradHeli_Copter36_Upgrade-QGC.params @@ -15,6 +15,7 @@ 1 1 PSC_ACCZ_D 0 9 1 1 PSC_ACCZ_FF 0 9 1 1 PSC_ACCZ_FILT 20 9 +1 1 PSC_ACCZ_FLTD 20 9 1 1 PSC_ACCZ_I 1 9 1 1 PSC_ACCZ_IMAX 800 9 1 1 PSC_ACCZ_P 0.28 9 diff --git a/Tools/Frame_params/WLToys_V383_HeliQuad.param b/Tools/Frame_params/WLToys_V383_HeliQuad.param index 8a062c348a..2ad98b789a 100644 --- a/Tools/Frame_params/WLToys_V383_HeliQuad.param +++ b/Tools/Frame_params/WLToys_V383_HeliQuad.param @@ -7,6 +7,7 @@ ATC_ANG_YAW_P 4.5 ATC_HOVR_ROL_TRM 0 ATC_RAT_PIT_D 0.005 ATC_RAT_PIT_FILT 20.0 +ATC_RAT_PIT_FLTE 20.0 ATC_RAT_PIT_I 0.125 ATC_RAT_PIT_ILMI 0.4 ATC_RAT_PIT_IMAX 0.7 @@ -14,6 +15,7 @@ ATC_RAT_PIT_P 0.125 ATC_RAT_PIT_VFF 0.0 ATC_RAT_RLL_D 0.0008 ATC_RAT_RLL_FILT 20.0 +ATC_RAT_RLL_FLTE 20.0 ATC_RAT_RLL_I 0.095 ATC_RAT_RLL_ILMI 0.3 ATC_RAT_RLL_IMAX 0.5 @@ -21,6 +23,7 @@ ATC_RAT_RLL_P 0.095 ATC_RAT_RLL_VFF 0.0 ATC_RAT_YAW_D 0.040000 ATC_RAT_YAW_FILT 2.5 +ATC_RAT_YAW_FLTE 2.5 ATC_RAT_YAW_I 0.018000 ATC_RAT_YAW_ILMI 0.0 ATC_RAT_YAW_IMAX 0.1 diff --git a/Tools/Frame_params/eLAB_EX1050_AC34.param b/Tools/Frame_params/eLAB_EX1050_AC34.param index d9b72eaac9..72155a7fb7 100644 --- a/Tools/Frame_params/eLAB_EX1050_AC34.param +++ b/Tools/Frame_params/eLAB_EX1050_AC34.param @@ -9,11 +9,13 @@ ATC_ANG_RLL_P,6.3 ATC_ANG_YAW_P,4.5 ATC_RAT_PIT_D,0.0128 ATC_RAT_PIT_FILT,10.0 +ATC_RAT_PIT_FLTD,10.0 ATC_RAT_PIT_I,0.144 ATC_RAT_PIT_IMAX,0.2 ATC_RAT_PIT_P,0.144 ATC_RAT_RLL_D,0.01386 ATC_RAT_RLL_FILT,10.0 +ATC_RAT_RLL_FLTD,10.0 ATC_RAT_RLL_I,0.1523 ATC_RAT_RLL_P,0.1523 ATC_RAT_YAW_I,0.018 diff --git a/Tools/Frame_params/eLAB_EX700_AC34.param b/Tools/Frame_params/eLAB_EX700_AC34.param index 91e558fb9f..85fce24f56 100644 --- a/Tools/Frame_params/eLAB_EX700_AC34.param +++ b/Tools/Frame_params/eLAB_EX700_AC34.param @@ -10,10 +10,12 @@ ATC_ANG_RLL_P,6.01 ATC_ANG_YAW_P,5.48 ATC_RAT_PIT_D,0.01636 ATC_RAT_PIT_FILT,10.0 +ATC_RAT_PIT_FLTD,10.0 ATC_RAT_PIT_I,0.1379 ATC_RAT_PIT_P,0.1379 ATC_RAT_RLL_D,0.00683 ATC_RAT_RLL_FILT,10.0 +ATC_RAT_RLL_FLTD,10.0 ATC_RAT_RLL_I,0.0814 ATC_RAT_RLL_P,0.0814 ATC_RAT_YAW_I,0.044 diff --git a/Tools/Frame_params/eLAB_LAB470_AC35.param b/Tools/Frame_params/eLAB_LAB470_AC35.param index fc5ff2af63..fb691532fe 100644 --- a/Tools/Frame_params/eLAB_LAB470_AC35.param +++ b/Tools/Frame_params/eLAB_LAB470_AC35.param @@ -11,14 +11,17 @@ ATC_ANG_RLL_P,8 ATC_ANG_YAW_P,4.5 ATC_RAT_PIT_D,0.009977 ATC_RAT_PIT_FILT,10 +ATC_RAT_PIT_FLTD,10 ATC_RAT_PIT_I,0.1022741 ATC_RAT_PIT_P,0.1022741 ATC_RAT_RLL_D,0.009617 ATC_RAT_RLL_FILT,10 +ATC_RAT_RLL_FLTD,10 ATC_RAT_RLL_I,0.0827849 ATC_RAT_RLL_P,0.0827849 ATC_RAT_YAW_D,0 ATC_RAT_YAW_FILT,2.5 +ATC_RAT_YAW_FLTE,2.5 ATC_RAT_YAW_I,0.018 ATC_RAT_YAW_P,0.18 ATC_RATE_FF_ENAB,1 diff --git a/Tools/Frame_params/intel-aero-rtf-cb.param b/Tools/Frame_params/intel-aero-rtf-cb.param index 8cdc5e157e..158bf63975 100644 --- a/Tools/Frame_params/intel-aero-rtf-cb.param +++ b/Tools/Frame_params/intel-aero-rtf-cb.param @@ -10,18 +10,21 @@ ATC_ANG_YAW_P,6.0 ATC_RAT_PIT_D,0.0017 ATC_RAT_PIT_FF,0 ATC_RAT_PIT_FILT,20 +ATC_RAT_PIT_FLTD,20 ATC_RAT_PIT_I,0.13 ATC_RAT_PIT_IMAX,0.444 ATC_RAT_PIT_P,0.13 ATC_RAT_RLL_D,0.001 ATC_RAT_RLL_FF,0 ATC_RAT_RLL_FILT,20 +ATC_RAT_RLL_FLTD,20 ATC_RAT_RLL_I,0.109 ATC_RAT_RLL_IMAX,0.444 ATC_RAT_RLL_P,0.109 ATC_RAT_YAW_D,0 ATC_RAT_YAW_FF,0 ATC_RAT_YAW_FILT,1.38 +ATC_RAT_YAW_FLTE,1.38 EK2_ALT_M_NSE,5 EK3_ALT_M_NSE,5 FLTMODE1,5 diff --git a/Tools/Frame_params/intel-aero-rtf.param b/Tools/Frame_params/intel-aero-rtf.param index 7922f6b7fc..e3b59f5980 100644 --- a/Tools/Frame_params/intel-aero-rtf.param +++ b/Tools/Frame_params/intel-aero-rtf.param @@ -12,18 +12,21 @@ ATC_ANG_YAW_P,6.0 ATC_RAT_PIT_D,0.0017 ATC_RAT_PIT_FF,0 ATC_RAT_PIT_FILT,20 +ATC_RAT_PIT_FLTD,20 ATC_RAT_PIT_I,0.13 ATC_RAT_PIT_IMAX,0.444 ATC_RAT_PIT_P,0.13 ATC_RAT_RLL_D,0.001 ATC_RAT_RLL_FF,0 ATC_RAT_RLL_FILT,20 +ATC_RAT_RLL_FLTD,20 ATC_RAT_RLL_I,0.109 ATC_RAT_RLL_IMAX,0.444 ATC_RAT_RLL_P,0.109 ATC_RAT_YAW_D,0 ATC_RAT_YAW_FF,0 ATC_RAT_YAW_FILT,1.38 +ATC_RAT_YAW_FLTE,1.38 ATC_INPUT_TC,0.05 BATT_MONITOR,3 BATT_VOLT_MULT,9.116 diff --git a/Tools/autotest/default_params/copter-hexa.parm b/Tools/autotest/default_params/copter-hexa.parm index a009410a51..7f56eaa200 100644 --- a/Tools/autotest/default_params/copter-hexa.parm +++ b/Tools/autotest/default_params/copter-hexa.parm @@ -14,7 +14,7 @@ ATC_RAT_RLL_I 0.3180474 ATC_RAT_RLL_IMAX 0.5 ATC_RAT_RLL_P 0.3180474 ATC_RAT_YAW_D 0 -ATC_RAT_YAW_FILT 5 +ATC_RAT_YAW_FLTD 5 ATC_RAT_YAW_I 0.06603496 ATC_RAT_YAW_IMAX 0.25 ATC_RAT_YAW_P 0.6603495 diff --git a/Tools/autotest/default_params/copter-octaquad.parm b/Tools/autotest/default_params/copter-octaquad.parm index e4e5a761c3..2790c59441 100644 --- a/Tools/autotest/default_params/copter-octaquad.parm +++ b/Tools/autotest/default_params/copter-octaquad.parm @@ -14,7 +14,7 @@ ATC_RAT_RLL_I 0.1232151 ATC_RAT_RLL_IMAX 1 ATC_RAT_RLL_P 0.1232151 ATC_RAT_YAW_D 0 -ATC_RAT_YAW_FILT 5 +ATC_RAT_YAW_FLTD 5 ATC_RAT_YAW_I 0.04692981 ATC_RAT_YAW_IMAX 0.5 ATC_RAT_YAW_P 0.4692981 diff --git a/Tools/autotest/default_params/copter-single.parm b/Tools/autotest/default_params/copter-single.parm index 7c2597a0af..ada5fc6f18 100644 --- a/Tools/autotest/default_params/copter-single.parm +++ b/Tools/autotest/default_params/copter-single.parm @@ -60,17 +60,17 @@ RC8_TRIM 1500.000000 # autotune values ATC_RATE_FF_ENAB 1.000000 ATC_RAT_PIT_D 0.200000 -ATC_RAT_PIT_FILT 20.000000 +ATC_RAT_PIT_FLTD 20.000000 ATC_RAT_PIT_I 2.000000 ATC_RAT_PIT_IMAX 1.000000 ATC_RAT_PIT_P 2.000000 ATC_RAT_RLL_D 0.200000 -ATC_RAT_RLL_FILT 20.000000 +ATC_RAT_RLL_FLTD 20.000000 ATC_RAT_RLL_I 2.000000 ATC_RAT_RLL_IMAX 1.000000 ATC_RAT_RLL_P 2.000000 ATC_RAT_YAW_D 0.000000 -ATC_RAT_YAW_FILT 5.000000 +ATC_RAT_YAW_FLTE 5.000000 ATC_RAT_YAW_I 0.139709 ATC_RAT_YAW_IMAX 0.222000 ATC_RAT_YAW_P 1.397085 diff --git a/Tools/autotest/default_params/copter-y6.parm b/Tools/autotest/default_params/copter-y6.parm index 85fd76b2af..4d67314811 100644 --- a/Tools/autotest/default_params/copter-y6.parm +++ b/Tools/autotest/default_params/copter-y6.parm @@ -14,7 +14,7 @@ ATC_RAT_RLL_I 0.315668 ATC_RAT_RLL_IMAX 0.75 ATC_RAT_RLL_P 0.315668 ATC_RAT_YAW_D 0 -ATC_RAT_YAW_FILT 5 +ATC_RAT_YAW_FLTE 5 ATC_RAT_YAW_I 0.06521364 ATC_RAT_YAW_IMAX 0.5 ATC_RAT_YAW_P 0.6521364 diff --git a/libraries/SITL/examples/Morse/quadcopter.parm b/libraries/SITL/examples/Morse/quadcopter.parm index e7f8e5c053..89c2550e21 100644 --- a/libraries/SITL/examples/Morse/quadcopter.parm +++ b/libraries/SITL/examples/Morse/quadcopter.parm @@ -8,19 +8,19 @@ ATC_ANG_RLL_P 6.125903 ATC_ANG_YAW_P 3.144684 ATC_RAT_PIT_D 0.006864 ATC_RAT_PIT_FF 0.000000 -ATC_RAT_PIT_FILT 20.000000 +ATC_RAT_PIT_FLTD 20.000000 ATC_RAT_PIT_I 0.292808 ATC_RAT_PIT_IMAX 0.500000 ATC_RAT_PIT_P 0.292808 ATC_RAT_RLL_D 0.007893 ATC_RAT_RLL_FF 0.000000 -ATC_RAT_RLL_FILT 20.000000 +ATC_RAT_RLL_FLTD 20.000000 ATC_RAT_RLL_I 0.255515 ATC_RAT_RLL_IMAX 0.500000 ATC_RAT_RLL_P 0.255515 ATC_RAT_YAW_D 0.000000 ATC_RAT_YAW_FF 0.000000 -ATC_RAT_YAW_FILT 5.000000 +ATC_RAT_YAW_FLTE 5.000000 ATC_RAT_YAW_I 0.093384 ATC_RAT_YAW_IMAX 0.500000 ATC_RAT_YAW_P 0.933841