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Re: [Paparazzi-devel] Rotorcraft Airframe Config Settings


From: Felix Ruess
Subject: Re: [Paparazzi-devel] Rotorcraft Airframe Config Settings
Date: Wed, 14 Dec 2011 23:41:14 +0100

Hi Simon,

Most of these are gains, etc. for the different control algorithms

> STABILIZATION_RATE:
> SP_MAX_[P|Q|R]
These are the maximum setpoints for p, q, r (angular rate of roll,
pitch and yaw) for when you use rate stabilization only.

> STABILIZATION_ATTITUDE:
Settings for the "normal" attitude stabilization control
> DEADBAND_R
The deadband around the center of the yaw stick, for yaw rate (R).
> REF_*
For the computation of the reference attitude
> PHI_[P|D|I]GAIN
gains for the feedback PID controller (phi/roll axis)
> THETA_[P|D|I]GAIN
gains for the feedback PID controller (theta/pitch axis)
> PSI_[P|D|I]GAIN
gains for the feedback PID controller (psi/yaw axis)
> [PHI|THETA|PSI]_DDGAIN
feedforward gains

> GUIDANCE_V:
vertical guidance
> HOVER_[KP|KD|KI]
PID gains for thrust in the hover loop
> RC_CLIMB_COEFF
the coefficient to translate RC stick position to a climb rate (for
use with x_RC_CLIMB modes)
> RC_CLIMB_DEAD_BAND
deadband around center stick for x_RC_CLIMB modes
> INV_M
basically the inverse of the mass, if you specify this, it will be
used instead of the observer for the adaptive control
(so in most cases it makes more sense to not specify this explicitly
and use the adaptive controller instead)

> MISC:
> FACE_REINJ_1
Only used in ahrs int_cmpl_euler (old name FilterAttitudeComplementaryEuler)
It's the divisor used for reinjection of the attitude correction with
accelerometers, defaults to 1024 and normally doesn't have to be
adjusted.

Cheers, Felix



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