Re: [Paparazzi-devel] eliminate ATT steady-state error

[Eltonwu]

Hi Eduardo.

I have already tried to increase i term to 800 but found no improvement

quadrotor_wecam.xml
<http://lists.paparazziuav.org/file/n17022/quadrotor_wecam.xml>  

<airframe name="Quadrotor XYZ pwm">

  <modules main_freq="512">
    <load name="send_imu_mag_current.xml"/>
    <load name="openlog.xml"/>
    <load name="gps_ubx_ucenter.xml"/>
    <load name="sys_mon.xml"/>
    <load name="bat_checker.xml"/>
    <load name="geo_mag.xml"/>
      
  </modules>

  <firmware name="rotorcraft">
    <target name="ap" board="krooz_sd">
      <subsystem name="radio_control" type="datalink">
        <define name="RADIO_MODE" value="RADIO_AUX1"/>
        <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="0"/>
      </subsystem>
      
    </target>

    <target name="nps" board="pc">
      <subsystem name="fdm" type="jsbsim"/>
      <subsystem name="radio_control" type="ppm"/>
    </target>

    <subsystem name="motor_mixing"/>
    <subsystem name="actuators"     type="pwm">
      <define name="SERVO_HZ" value="400"/>
      
    </subsystem>

    <subsystem name="telemetry"     type="transparent"/>
    <subsystem name="imu"           type="krooz_sd"/>
    <subsystem name="gps"           type="ublox"/>
    <subsystem name="stabilization" type="int_quat"/>
    <subsystem name="ahrs"          type="int_cmpl_quat">
      <define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/>
    </subsystem>
    <subsystem name="ins"           type="hff"/>

    
    <define name="USE_GPS_ACC4R" value="1"/>
    <define name="HFF_R_POS_MIN" value="2.5"/>
    <define name="HFF_R_SPEED_MIN" value="0.5"/>
    <define name="HFF_ACCEL_NOISE" value="1."/>
    
    <define name="VF_FLOAT_MEAS_NOISE" value="1."/>
  </firmware>

  <servos driver="Pwm">
    <servo name="NE"   no="0" min="1000" neutral="1150" max="1900"/>
    <servo name="SE"    no="1" min="1000" neutral="1150" max="1900"/>
    <servo name="SW"   no="2" min="1000" neutral="1150" max="1900"/>
    <servo name="NW"    no="3" min="1000" neutral="1150" max="1900"/>
  </servos>

  <commands>
    <axis name="ROLL"   failsafe_value="0"/>
    <axis name="PITCH"  failsafe_value="0"/>
    <axis name="YAW"    failsafe_value="0"/>
    <axis name="THRUST" failsafe_value="0"/>
  </commands>

  <command_laws>
    <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
    <set servo="NE" value="motor_mixing.commands[0]"/>
    <set servo="SE" value="motor_mixing.commands[1]"/>
    <set servo="SW" value="motor_mixing.commands[2]"/>
    <set servo="NW" value="motor_mixing.commands[3]"/>
  </command_laws>

  <section name="MIXING" prefix="MOTOR_MIXING_">
    <define name="TRIM_ROLL" value="0"/>
    <define name="TRIM_PITCH" value="0"/>
    <define name="TRIM_YAW" value="0"/>
    <define name="NB_MOTOR" value="4"/>
    <define name="SCALE" value="256"/>

    <define name="ROLL_COEF"   value="{ -MOTOR_MIXING_SCALE,
-MOTOR_MIXING_SCALE,  MOTOR_MIXING_SCALE,  MOTOR_MIXING_SCALE }"/>
    <define name="PITCH_COEF"  value="{  MOTOR_MIXING_SCALE,
-MOTOR_MIXING_SCALE, -MOTOR_MIXING_SCALE,  MOTOR_MIXING_SCALE }"/>
    <define name="YAW_COEF"    value="{  MOTOR_MIXING_SCALE,
-MOTOR_MIXING_SCALE,  MOTOR_MIXING_SCALE, -MOTOR_MIXING_SCALE }"/>
    <define name="THRUST_COEF" value="{  MOTOR_MIXING_SCALE, 
MOTOR_MIXING_SCALE,  MOTOR_MIXING_SCALE,  MOTOR_MIXING_SCALE }"/>
  </section>

  <section name="IMU" prefix="IMU_">




<define name="ACCEL_X_NEUTRAL" value="116"/>
<define name="ACCEL_Y_NEUTRAL" value="128"/>
<define name="ACCEL_Z_NEUTRAL" value="-5957"/>
<define name="ACCEL_X_SENS" value="0.610012828874" integer="16"/>
<define name="ACCEL_Y_SENS" value="0.615211920657" integer="16"/>
<define name="ACCEL_Z_SENS" value="0.604669159053" integer="16"/>







    

    

    













<define name="MAG_X_NEUTRAL" value="63"/>
<define name="MAG_Y_NEUTRAL" value="17"/>
<define name="MAG_Z_NEUTRAL" value="-102"/>
<define name="MAG_X_SENS" value="4.22273667327" integer="16"/>
<define name="MAG_Y_SENS" value="4.32324776158" integer="16"/>
<define name="MAG_Z_SENS" value="4.56063086629" integer="16"/>





<define name= "MAG_X_CURRENT_COEF" value="-0.0234341805963"/>
<define name= "MAG_Y_CURRENT_COEF" value="0.0139393104786"/>
<define name= "MAG_Z_CURRENT_COEF" value="0.012462332939"/>




    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
    <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
  </section>

  <section name="AHRS" prefix="AHRS_">
    <define name="H_X" value="0.5531825"/>
    <define name="H_Y" value="0.1204294"/>
    <define name="H_Z" value="0.8243093"/>
  </section>

  <section name="INS" prefix="INS_">
  </section>

  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
    
    <define name="SP_MAX_P" value="10000"/>
    <define name="SP_MAX_Q" value="10000"/>
    <define name="SP_MAX_R" value="10000"/>
    <define name="DEADBAND_P" value="20"/>
    <define name="DEADBAND_Q" value="20"/>
    <define name="DEADBAND_R" value="200"/>
    <define name="REF_TAU" value="4"/>

    
    <define name="GAIN_P" value="400"/>
    <define name="GAIN_Q" value="400"/>
    <define name="GAIN_R" value="350"/>

    <define name="IGAIN_P" value="75"/>
    <define name="IGAIN_Q" value="75"/>
    <define name="IGAIN_R" value="50"/>

    
    <define name="DDGAIN_P" value="300"/>
    <define name="DDGAIN_Q" value="300"/>
    <define name="DDGAIN_R" value="300"/>
  </section>


  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">

    
    <define name="SP_MAX_PHI" value="30." unit="deg"/>
    <define name="SP_MAX_THETA" value="30." unit="deg"/>
    <define name="SP_MAX_R" value="90." unit="deg/s"/>
    <define name="DEADBAND_R" value="250"/>
    <define name="DEADBAND_A" value="250"/>

    
    <define name="REF_OMEGA_P" value="400" unit="deg/s"/>
    <define name="REF_ZETA_P" value="0.85"/>
    <define name="REF_MAX_P" value="400." unit="deg/s"/>
    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>

    <define name="REF_OMEGA_Q" value="400" unit="deg/s"/>
    <define name="REF_ZETA_Q" value="0.85"/>
    <define name="REF_MAX_Q" value="400." unit="deg/s"/>
    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>

    <define name="REF_OMEGA_R" value="800" unit="deg/s"/>
    <define name="REF_ZETA_R" value="0.85"/>
    <define name="REF_MAX_R" value="90." unit="deg/s"/>
    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>

    
    <define name="PHI_PGAIN" value="368"/>
    <define name="PHI_DGAIN" value="178"/>
    <define name="PHI_IGAIN" value="308"/>

    <define name="THETA_PGAIN" value="368"/>
    <define name="THETA_DGAIN" value="178"/>
    <define name="THETA_IGAIN" value="128"/>

    

    <define name="PSI_PGAIN" value="800"/>
    <define name="PSI_DGAIN" value="500"/>
    <define name="PSI_IGAIN" value="226"/>

    
    <define name="PHI_DDGAIN" value="90"/>
    <define name="THETA_DDGAIN" value="90"/>
    <define name="PSI_DDGAIN" value="400"/>

    <define name="PHI_AGAIN" value="0"/>
    <define name="THETA_AGAIN" value="0"/>
    <define name="PSI_AGAIN" value="0"/>
  </section>

  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
    <define name="MIN_ERR_Z"   value="POS_BFP_OF_REAL(-10.)"/>
    <define name="MAX_ERR_Z"   value="POS_BFP_OF_REAL( 10.)"/>
    <define name="MIN_ERR_ZD"  value="SPEED_BFP_OF_REAL(-10.)"/>
    <define name="MAX_ERR_ZD"  value="SPEED_BFP_OF_REAL( 10.)"/>
    <define name="MAX_SUM_ERR" value="2000000"/>
    <define name="REF_MIN_ZDD" value="-0.2*9.81"/> 
    <define name="REF_MAX_ZDD" value="0.2*9.81"/>  
    <define name="REF_MIN_ZD" value="-2."/>        
    <define name="REF_MAX_ZD" value="2."/>         
    <define name="HOVER_KP"    value="130"/>         
    <define name="HOVER_KD"    value="150"/>
    <define name="HOVER_KI"    value="10"/>
    <define name="ADAPT_NOISE_FACTOR" value="0.7"/>
    <define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.4"/>
    <define name="NOMINAL_HOVER_THROTTLE" value="0.9"/>
    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
  </section>

  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
    <define name="MAX_BANK" value="27" unit="deg"/>
    <define name="USE_SPEED_REF" value="TRUE"/>
    <define name="REF_MAX_SPEED" value="2."/> 
    <define name="REF_MAX_ACCEL" value="7."/>
    <define name="PGAIN" value="68"/>  
    <define name="DGAIN" value="88"/> 
    <define name="VGAIN" value="0"/>
    <define name="AGAIN" value="88"/>  
    <define name="IGAIN" value="10"/>  
  </section>

  <section name="SIMULATOR" prefix="NPS_">
    <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;,
&quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
    <define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
    <define name="SENSORS_PARAMS"
value="&quot;nps_sensors_params_default.h&quot;"/>
    
    <define name="JS_AXIS_MODE" value="4"/>
  </section>

  <section name="AUTOPILOT">
    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_RC_CLIMB"/>
    <define name="MODE_AUTO1"  value="AP_MODE_HOVER_RC_CLIMB"/>
    <define name="MODE_AUTO2"  value="AP_MODE_NAV"/>
  </section>




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