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Copter: Autotune parameter update

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Leonard Hall 2015-04-16 19:38:31 +09:30 committed by Randy Mackay
parent 93d5c39248
commit ca66b51ba9
1 changed files with 4 additions and 4 deletions
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8
ArduCopter/control_autotune.pde
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@ -55,7 +55,7 @@
#define AUTOTUNE_RD_TEST_NOISE 0.05f // Rate D gains are reduced to 50% of their maximum value discovered during tuning
#define AUTOTUNE_RD_BACKOFF 4.0f // Rate D gains are reduced to 50% of their maximum value discovered during tuning
#define AUTOTUNE_RP_BACKOFF 1.0f // Rate P gains are reduced to 97.5% of their maximum value discovered during tuning
#define AUTOTUNE_SP_BACKOFF 1.0f // Stab P gains are reduced to 60% of their maximum value discovered during tuning
#define AUTOTUNE_SP_BACKOFF 1.0f // Stab P gains are reduced to 60% of their maximum value discovered during tuning
#define AUTOTUNE_PI_RATIO_FOR_TESTING 0.1f // I is set 10x smaller than P during testing
#define AUTOTUNE_PI_RATIO_FINAL 2.5f // I is set 1x P after testing
#define AUTOTUNE_YAW_PI_RATIO_FINAL 0.1f // I is set 1x P after testing
@ -64,13 +64,13 @@
#define AUTOTUNE_RLPF_MIN 1.0f // minimum Rate Yaw filter value
#define AUTOTUNE_RLPF_MAX 10.0f // maximum Rate Yaw filter value
#define AUTOTUNE_RP_MIN 0.01f // minimum Rate P value
#define AUTOTUNE_RP_MAX 1.0f // maximum 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_ACCEL_RP_BACKOFF 1.0f // back off from maximum acceleration
#define AUTOTUNE_ACCEL_Y_BACKOFF 0.75f // back off from maximum acceleration
#define AUTOTUNE_RP_ACCEL_MIN 54000.0f // Minimum acceleration for Roll and Pitch
#define AUTOTUNE_Y_ACCEL_MIN 18000.0f // Minimum acceleration for Yaw
#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_Y_FILT_FREQ 10.0f // Minimum acceleration for Roll and Pitch
#define AUTOTUNE_SUCCESS_COUNT 4 // how many 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