aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Copter: autotune adjustment for large copters

Browse Source
This commit is contained in:
Leonard Hall 2016-02-18 20:43:08 +09:00 committed by Randy Mackay
parent 8da58226ae
commit 8e790d3f91
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
ArduCopter/control_autotune.cpp
View File

@ -57,15 +57,15 @@
#define AUTOTUNE_PI_RATIO_FOR_TESTING 0.1f // I is set 10x smaller than P during testing
#define AUTOTUNE_PI_RATIO_FINAL 1.0f // I is set 1x P after testing
#define AUTOTUNE_YAW_PI_RATIO_FINAL 0.1f // I is set 1x P after testing
#define AUTOTUNE_RD_MAX 0.050f // maximum Rate D value
#define AUTOTUNE_RD_MAX 0.200f // maximum Rate D value
#define AUTOTUNE_RLPF_MIN 1.0f // minimum Rate Yaw filter value
#define AUTOTUNE_RLPF_MAX 5.0f // maximum Rate Yaw filter value
#define AUTOTUNE_RP_MIN 0.01f // minimum Rate P value
#define AUTOTUNE_RP_MAX 2.0f // maximum Rate P value
#define AUTOTUNE_SP_MAX 20.0f // maximum Stab P value
#define AUTOTUNE_SP_MIN 0.5f // maximum Stab P value
#define AUTOTUNE_RP_ACCEL_MIN 36000.0f // Minimum acceleration for Roll and Pitch
#define AUTOTUNE_Y_ACCEL_MIN 9000.0f // Minimum acceleration for Yaw
#define AUTOTUNE_RP_ACCEL_MIN 4000.0f // Minimum acceleration for Roll and Pitch
#define AUTOTUNE_Y_ACCEL_MIN 1000.0f // Minimum acceleration for Yaw
#define AUTOTUNE_Y_FILT_FREQ 10.0f // Autotune filter frequency when testing Yaw
#define AUTOTUNE_SUCCESS_COUNT 4 // The number of successful iterations we need to freeze at current gains
#define AUTOTUNE_D_UP_DOWN_MARGIN 0.2f // The margin below the target that we tune D in