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

Autotest: modified balance bot params and waypoints

Browse Source
This commit is contained in:
Ebin 2019-12-08 19:12:34 +05:30 committed by Peter Barker
parent 3daebe974e
commit e4febaf6e0
2 changed files with 15 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
Tools/autotest/balancebot1.txt
View File

@ -8,12 +8,13 @@ QGC WPL 110
6 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070900 -105.229950 11085.900391 1
7 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070843 -105.229858 11085.889648 1
8 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070801 -105.229820 11085.849609 1
9 0 3 178 0.000000 2.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
9 0 3 178 0.000000 0.800000 0.000000 0.000000 0.000000 0.000000 0.000000 1
10 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070721 -105.229736 11085.900391 1
11 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070827 -105.229530 11086.000000 1
12 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070904 -105.229362 11085.929688 1
13 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070995 -105.229118 12669.580078 1
14 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071133 -105.229233 11085.900391 1
15 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071255 -105.229355 11085.900391 1
16 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071404 -105.229485 9502.200195 1
17 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071369 -105.229828 9502.200195 1
13 0 3 178 0.000000 1.200000 0.000000 0.000000 0.000000 0.000000 0.000000 1
14 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070995 -105.229118 12669.580078 1
15 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071133 -105.229233 11085.900391 1
16 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071255 -105.229355 11085.900391 1
17 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071404 -105.229485 9502.200195 1
18 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071369 -105.229828 9502.200195 1

15
Tools/autotest/default_params/balancebot.parm
View File

@ -1,13 +1,14 @@
ATC_BAL_P 35
ATC_BAL_I 35
ATC_BAL_D 1.2
ATC_BAL_FILT 50
ATC_SPEED_P 0.06
ATC_SPEED_I 0.0
ATC_SPEED_FILT 0
ATC_BAL_P 18.0
ATC_BAL_I 80.0
ATC_BAL_D 0.005
ATC_BAL_SPD_FF 0.000000
ATC_SPEED_P 0.9
ATC_SPEED_I 0.5
AHRS_EKF_TYPE 10
BAL_PITCH_MAX 2.0
CRUISE_SPEED 1.0
CRUISE_THROTTLE 0.0
WP_SPEED 1.0
FRAME_CLASS 3
FS_CRASH_CHECK 1
MOT_SLEWRATE 0