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Frame_params: Solo notch filter params

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Adds the dynamic harmonic notch filter and static notch filter to the Solo's default parameters.  PID tuning parameters for the green cube Solo adjusted to take advantage of the better control.
This commit is contained in:
Matt Lawrence 2019-11-09 12:37:44 -05:00 committed by Randy Mackay
parent de5945bea5
commit b96a5d87b2
4 changed files with 49 additions and 5 deletions
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9
Tools/Frame_params/Solo_Copter-4.param
View File

@ -70,6 +70,15 @@ GPS_NAVFILTER,6
GPS_TYPE,1
INS_ACC_BODYFIX,3
INS_FAST_SAMPLE,3
INS_HNTCH_ATT,40
INS_HNTCH_ENABLE,1
INS_HNTCH_REF,0.26
INS_HNTCH_FREQ,200
INS_HNTCH_BW,100
INS_NOTCH_ATT,40
INS_NOTCH_ENABLE,1
INS_NOTCH_FREQ,98
INS_NOTCH_BW,49
INS_TRIM_OPTION,2
LAND_ALT_LOW,600
LAND_SPEED,45

19
Tools/Frame_params/Solo_Copter-4_GreenCube.param
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@ -15,14 +15,14 @@ ATC_ANG_PIT_P,10
ATC_ANG_RLL_P,9
ATC_ANG_YAW_P,6
ATC_INPUT_TC,0.15
ATC_RAT_PIT_D,0.006
ATC_RAT_PIT_I,0.09
ATC_RAT_PIT_D,0.0075
ATC_RAT_PIT_I,0.270
ATC_RAT_PIT_IMAX,0.444
ATC_RAT_PIT_P,0.167
ATC_RAT_PIT_P,0.270
ATC_RAT_RLL_D,0.005
ATC_RAT_RLL_I,0.12
ATC_RAT_RLL_I,0.200
ATC_RAT_RLL_IMAX,0.444
ATC_RAT_RLL_P,0.086
ATC_RAT_RLL_P,0.200
ATC_RAT_YAW_FILT,5
ATC_RAT_YAW_FLTE,5
ATC_RAT_YAW_I,0.05
@ -69,6 +69,15 @@ GPS_NAVFILTER,6
GPS_TYPE,1
INS_ACC_BODYFIX,3
INS_FAST_SAMPLE,3
INS_HNTCH_ATT,40
INS_HNTCH_ENABLE,1
INS_HNTCH_REF,0.26
INS_HNTCH_FREQ,200
INS_HNTCH_BW,100
INS_NOTCH_ATT,40
INS_NOTCH_ENABLE,1
INS_NOTCH_FREQ,98
INS_NOTCH_BW,49
INS_TRIM_OPTION,2
LAND_ALT_LOW,600
LAND_SPEED,45

10
Tools/Frame_params/test params stock solo.param Normal file
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@ -0,0 +1,10 @@
# New stock cube notch params for chris to try
INS_HNTCH_ATT,40
INS_HNTCH_ENABLE,1
INS_HNTCH_REF,0.26
INS_HNTCH_FREQ,200
INS_HNTCH_BW,100
INS_NOTCH_ATT,40
INS_NOTCH_ENABLE,1
INS_NOTCH_FREQ,98
INS_NOTCH_BW,49

16
Tools/Frame_params/test params.param Normal file
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@ -0,0 +1,16 @@
# New Green Cube tuning and notch params for chris to try
ATC_RAT_PIT_D,0.008
ATC_RAT_PIT_I,0.280
ATC_RAT_PIT_P,0.280
ATC_RAT_RLL_D,0.005
ATC_RAT_RLL_I,0.108
ATC_RAT_RLL_P,0.108
INS_HNTCH_ATT,40
INS_HNTCH_ENABLE,1
INS_HNTCH_REF,0.26
INS_HNTCH_FREQ,200
INS_HNTCH_BW,100
INS_NOTCH_ATT,40
INS_NOTCH_ENABLE,1
INS_NOTCH_FREQ,98
INS_NOTCH_BW,49