From 2d89bcaef61ecaf55f2f48a9701f9ba2829d3b8d Mon Sep 17 00:00:00 2001 From: ChristopherOlson Date: Sat, 11 Aug 2018 22:18:59 -0500 Subject: [PATCH] Tools:TradHeli - update param files to lower gains for ACCZ_P, and Position Controller velocity request --- Tools/Frame_params/TradHeli_Copter36_Setup-MP.param | 8 ++++---- Tools/Frame_params/TradHeli_Copter36_Setup-QGC.params | 8 ++++---- Tools/Frame_params/TradHeli_Copter36_Upgrade-MP.param | 8 ++++---- .../Frame_params/TradHeli_Copter36_Upgrade-QGC.params | 10 +++++----- 4 files changed, 17 insertions(+), 17 deletions(-) diff --git a/Tools/Frame_params/TradHeli_Copter36_Setup-MP.param b/Tools/Frame_params/TradHeli_Copter36_Setup-MP.param index 4432eb2ca5..fa2b69f3eb 100644 --- a/Tools/Frame_params/TradHeli_Copter36_Setup-MP.param +++ b/Tools/Frame_params/TradHeli_Copter36_Setup-MP.param @@ -53,17 +53,17 @@ PSC_ACCZ_FF, 0.0 PSC_ACCZ_FILT, 20 PSC_ACCZ_I, 1 PSC_ACCZ_IMAX, 800 -PSC_ACCZ_P, 0.30 +PSC_ACCZ_P, 0.28 PSC_ACC_XY_FILT, 2 PSC_ANGLE_MAX, 0.0 PSC_POSXY_P, 1 PSC_POSZ_P, 1 -PSC_VELXY_D, 0.5 +PSC_VELXY_D, 0.0 PSC_VELXY_D_FILT, 5 PSC_VELXY_FILT, 5 -PSC_VELXY_I, 1 +PSC_VELXY_I, 0.5 PSC_VELXY_IMAX, 1000 -PSC_VELXY_P, 2 +PSC_VELXY_P, 1 PSC_VELZ_P, 5 WPNAV_ACCEL, 220 WPNAV_ACCEL_Z, 100 diff --git a/Tools/Frame_params/TradHeli_Copter36_Setup-QGC.params b/Tools/Frame_params/TradHeli_Copter36_Setup-QGC.params index 59f63c0bc8..c50b88f1d6 100644 --- a/Tools/Frame_params/TradHeli_Copter36_Setup-QGC.params +++ b/Tools/Frame_params/TradHeli_Copter36_Setup-QGC.params @@ -54,17 +54,17 @@ 1 1 PSC_ACCZ_FILT 20 9 1 1 PSC_ACCZ_I 1 9 1 1 PSC_ACCZ_IMAX 800 9 -1 1 PSC_ACCZ_P 0.30 9 +1 1 PSC_ACCZ_P 0.28 9 1 1 PSC_ACC_XY_FILT 2 9 1 1 PSC_ANGLE_MAX 0 9 1 1 PSC_POSXY_P 1 9 1 1 PSC_POSZ_P 1 9 -1 1 PSC_VELXY_D 0.5 9 +1 1 PSC_VELXY_D 0.0 9 1 1 PSC_VELXY_D_FILT 5 9 1 1 PSC_VELXY_FILT 5 9 -1 1 PSC_VELXY_I 1 9 +1 1 PSC_VELXY_I 0.5 9 1 1 PSC_VELXY_IMAX 1000 9 -1 1 PSC_VELXY_P 2 9 +1 1 PSC_VELXY_P 1 9 1 1 PSC_VELZ_P 5 9 1 1 WPNAV_ACCEL 220 9 1 1 WPNAV_ACCEL_Z 100 9 diff --git a/Tools/Frame_params/TradHeli_Copter36_Upgrade-MP.param b/Tools/Frame_params/TradHeli_Copter36_Upgrade-MP.param index 0d414a2219..87f7e91761 100644 --- a/Tools/Frame_params/TradHeli_Copter36_Upgrade-MP.param +++ b/Tools/Frame_params/TradHeli_Copter36_Upgrade-MP.param @@ -16,17 +16,17 @@ PSC_ACCZ_FF, 0.0 PSC_ACCZ_FILT, 20 PSC_ACCZ_I, 1 PSC_ACCZ_IMAX, 800 -PSC_ACCZ_P, 0.30 +PSC_ACCZ_P, 0.28 PSC_ACC_XY_FILT, 2 PSC_ANGLE_MAX, 0.0 PSC_POSXY_P, 1 PSC_POSZ_P, 1 -PSC_VELXY_D, 0.5 +PSC_VELXY_D, 0.0 PSC_VELXY_D_FILT, 5 PSC_VELXY_FILT, 5 -PSC_VELXY_I, 1 +PSC_VELXY_I, 0.5 PSC_VELXY_IMAX, 1000 -PSC_VELXY_P, 2 +PSC_VELXY_P, 1 PSC_VELZ_P, 5 WPNAV_ACCEL, 220 WPNAV_ACCEL_Z, 100 diff --git a/Tools/Frame_params/TradHeli_Copter36_Upgrade-QGC.params b/Tools/Frame_params/TradHeli_Copter36_Upgrade-QGC.params index 24a171beb8..717af6e0bd 100644 --- a/Tools/Frame_params/TradHeli_Copter36_Upgrade-QGC.params +++ b/Tools/Frame_params/TradHeli_Copter36_Upgrade-QGC.params @@ -17,17 +17,17 @@ 1 1 PSC_ACCZ_FILT 20 9 1 1 PSC_ACCZ_I 1 9 1 1 PSC_ACCZ_IMAX 800 9 -1 1 PSC_ACCZ_P 0.3 9 +1 1 PSC_ACCZ_P 0.28 9 1 1 PSC_ACC_XY_FILT 2 9 1 1 PSC_ANGLE_MAX 0 9 1 1 PSC_POSXY_P 1 9 -1 1 PSC_POSZ_P 1 9 -1 1 PSC_VELXY_D 0.5 9 +1 1 PSC_POSZ_P 1 9 +1 1 PSC_VELXY_D 0.0 9 1 1 PSC_VELXY_D_FILT 5 9 1 1 PSC_VELXY_FILT 5 9 -1 1 PSC_VELXY_I 1 9 +1 1 PSC_VELXY_I 0.5 9 1 1 PSC_VELXY_IMAX 1000 9 -1 1 PSC_VELXY_P 2 9 +1 1 PSC_VELXY_P 1 9 1 1 PSC_VELZ_P 5 9 1 1 WPNAV_ACCEL 220 9 1 1 WPNAV_ACCEL_Z 100 9