parameter optimized

controller-log30.txt

+unix_timestamp	

parameters_bravo.txt

@@ -3,7 +3,7 @@
 # MAV ID  COMPONENT ID  PARAM NAME  VALUE (FLOAT)
 42	1	POSFILTER	1
 42	1	POSFILTERWEIGHT	0.03
-42	1	PROTOCOLTIMEOUT	2e+06
+42	1	PROTOCOLTIMEOUT¿	2e+06
 42	1	SETPOINTDELAY	1e+06
 42	1	YAWTOLERANCE	0.1745
 42	100	42	42
@@ -36,10 +36,10 @@
 42	200	CAM_EXP	1000
 42	200	CAM_INTERVAL	36000
 42	200	DEBUG_1	0
-42	200	DEBUG_2	0
+42	200	DEBUG_2	1
 42	200	DEBUG_3	0
 42	200	DEBUG_4	0
-42	200	DEBUG_5	0
+42	200	DEBUG_5	1
 42	200	DEBUG_6	0
 42	200	MIX_OFFSET	0
 42	200	MIX_POSITION	0
@@ -48,34 +48,33 @@
 42	200	MIX_Z_POSITION	0
 42	200	PID_ATT_AWU	0.3
 42	200	PID_ATT_D	15
-42	200	PID_ATT_I	15
-42	200	PID_ATT_LIM	100
-42	200	PID_ATT_P	45
-42	200	PID_POS_AWU	5
-42	200	PID_POS_D	2
-42	200	PID_POS_I	0.3
-42	200	PID_POS_LIM	0.2
-42	200	PID_POS_P	1.8
+42	200	PID_ATT_I	20
+42	200	PID_ATT_LIM	30
+42	200	PID_ATT_P	40
+42	200	PID_POS_AWU	10
+42	200	PID_POS_D	1.8
+42	200	PID_POS_I	0.25
+42	200	PID_POS_LIM	0.15
+42	200	PID_POS_P	1.7
 42	200	PID_POS_Z_AWU	3
-42	200	PID_POS_Z_D	0.2
-42	200	PID_POS_Z_I	0.3
-42	200	PID_POS_Z_LIM	0.3
-42	200	PID_POS_Z_P	0.5
+42	200	PID_POS_Z_D	0.15
+42	200	PID_POS_Z_I	0.2
+42	200	PID_POS_Z_LIM	0.2
+42	200	PID_POS_Z_P	0.35
 42	200	PID_YAWPOS_AWU	1
 42	200	PID_YAWPOS_D	1
 42	200	PID_YAWPOS_I	0.1
-42	200	PID_YAWPOS_LIM	3
 42	200	PID_YAWPOS_P	5
 42	200	PID_YAWSPEED_D	0
 42	200	PID_YAWSPEED_I	5
 42	200	PID_YAWSPEED_P	15
 42	200	PID_YAWSPE_AWU	1
-42	200	PID_YAWSPE_LIM	50
+42	200	PID_YAWSPE_LIM	20
 42	200	POS_SP_ACCEPT	1
-42	200	POS_SP_X	1.36206
-42	200	POS_SP_Y	2.89715
-42	200	POS_SP_YAW	0
-42	200	POS_SP_Z	-0.7
+42	200	POS_SP_X	1.66
+42	200	POS_SP_Y	0.57
+42	200	POS_SP_YAW	1.5708
+42	200	POS_SP_Z	0
 42	200	POS_TIMEOUT	2e+06
 42	200	RC_NICK_CHAN	1
 42	200	RC_ROLL_CHAN	2
@@ -83,7 +82,6 @@
 42	200	RC_THRUST_CHAN	3
 42	200	RC_TRIM_CHAN	0
 42	200	RC_TUNE_CHAN1	7
-42	200	RC_TUNE_CHAN2	5
 42	200	RC_TUNE_CHAN3	6
 42	200	RC_TUNE_CHAN4	8
 42	200	RC_YAW_CHAN	4
@@ -95,7 +93,7 @@
 42	200	SYS_COMP_ID	200
 42	200	SYS_ID	42
 42	200	SYS_IMU_RESET	0
-42	200	SYS_SW_VER	2000
+42	200	SYS_SW_VER	2001
 42	200	SYS_TYPE	2
 42	200	UART_0_BAUD	115200
 42	200	UART_1_BAUD	57600

plots.m

+% Attitude tuning
+
+clc;
+close all;
+% load 'controller-log3.txt';
+figure; hold on; plot((data(:,1)-data(1,1))/1000,data(:,2),'ob'); plot((data(:,1)-data(1,1))/1000,data(:,5),'og'); plot((data(:,1)-data(1,1))/1000,data(:,12),'or')
+hold on;
+plot((data(:,1)-data(1,1))/1000,data(:,8),'ok')
+% plot(data(:,2),'-b'); plot(data(:,5),'-g'); plot(data(:,9),'-r')
+legend('roll set point','roll rm set point','roll')
+
+figure; hold on; plot(data(:,3),'ob'); plot(data(:,6),'og'); plot(data(:,11),'or')
+legend('pitch set point','pitch rm set point','pitch')
+
+figure; hold on; plot(data(:,4),'ob'); plot(data(:,7),'og'); plot(data(:,13),'or')
+legend('yaw set point','yaw rm set point','yaw')
\ No newline at end of file

temp.txt

+unix_timestamp	Gyro_Phi	Gyro_Psi	Gyro_Theta	Mag._X	
+1278327885627	29655	29196	29630	13599	
+1278327885727	29827	29475	29934	13649	
+1278327885828	30039	29678	30030	13688	
+1278327885928	29854	29795	30137	13527	
+1278327886029	29871	29224	29966	13598	
+1278327886129	29704	29747	29800	13507	
+1278327886230	29580	30016	29784	13571	
+1278327886331	29916	29203	29841	13588	
+1278327886431	29895	29404	29948	13632	
+1278327886532	29935	29840	29790	13528	
+1278327886632	30110	29559	30220	13654	
+1278327886733	29727	29113	30124	13569	
+1278327886833	29998	29521	30028	13648	
+1278327886934	29635	29444	29634	13624	
+1278327887035	29801	29054	29712	13558	
+1278327887135	29852	28972	29815	13544	
+1278327887236	29711	29656	30060	13657	
+1278327887337	30112	29340	30095	13608	
+1278327887437	29785	28859	29697	13514	
+1278327887538	29966	29649	30265	13651	
+1278327887638	29806	29457	30028	13615	
+1278327887739	29807	29304	29870	13601	
+1278327887840	29943	29128	29580	13564	
+1278327887940	29786	29683	29872	13658	
+1278327888041	30159	29598	30286	13638	
+1278327888141	29703	29144	29679	13568	
+1278327888242	29919	29539	29936	13627	
+1278327888343	29920	29742	30087	13492	
+1278327888443	30009	29774	30071	13500	
+1278327888544	29959	29036	29935	13532	
+1278327888645	29596	29700	29889	13479	
+1278327888745	30000	29824	30180	13502	
+1278327888846	29804	29521	29829	13617	
+1278327888946	29859	29080	29743	13544	
+1278327889047	29832	29392	30040	13601	
+1278327889147	29799	29872	30062	13512	
+1278327889248	30013	29231	30019	13575	
+1278327889348	29863	29104	29768	13544	
+1278327889449	29863	29724	30126	13473	
+1278327889549	29849	29647	29683	13640	
+1278327889650	29801	29102	29879	13548	
+1278327889750	29823	29229	29998	13568	
+1278327889851	29665	29919	29935	13518	
+1278327889952	30077	29287	29939	13566	
+1278327890052	29903	29281	30062	13569	
+1278327890153	29859	29457	29916	13593	
+1278327890253	29788	29815	29904	13483	
+1278327890354	29912	29187	29992	13539	
+1278327890454	29855	29201	29660	13552	
+1278327890555	29937	29866	30179	13502	
+1278327890656	29635	29500	29527	13608	
+1278327890756	29904	29319	30001	13567	
+1278327890857	29656	29615	29947	13615	
+1278327890957	29591	29808	29580	13481	
+1278327891058	30003	29228	30087	13548	
+1278327891159	29903	29392	30094	13584	
+1278327891259	29919	29702	29921	13447	
+1278327891360	29911	29676	30174	13628	
+1278327891460	29919	29335	29900	13569	
+1278327891561	29751	29822	29903	13488	
+1278327891661	29857	29724	30119	13454	
+1278327891762	29809	28996	30114	13508	
+1278327891862	29872	29420	29711	13581	
+1278327891963	29987	29552	30080	13601	
+1278327892063	29855	29759	30172	13465	
+1278327892164	29913	29102	29699	13526	
+1278327892265	29703	29752	29804	13464	
+1278327892365	29968	29991	30289	13511	
+1278327892466	29679	28912	29820	13488	
+1278327892566	30014	29520	30009	13586	
+1278327892667	29875	29644	30080	13616	
+1278327892768	30023	29294	29839	13552	
+1278327892869	30161	28894	30211	13470	
+1278327892970	29830	29536	29960	13587	
+1278327893071	30103	29754	30099	13447	
+1278327893171	29939	29500	30087	13582	
+1278327893272	29991	28857	29932	13465	
+1278327893373	29790	29697	29913	13431	
+1278327893473	29951	29571	29902	13591	
+1278327893574	29697	29167	30083	13532	
+1278327893674	29845	29304	29710	13548	
+1278327893775	29900	29728	30032	13431	
+1278327893875	30073	29320	30119	13542	
+1278327893976	29937	29180	29879	13516	
+1278327894077	30001	29583	30119	13588	
+1278327894178	29836	29651	29841	13599	
+1278327894278	30009	29254	30115	13534	
+1278327894379	29825	29326	29863	13548	
+1278327894480	30040	29671	30065	13600	
+1278327894580	29854	29671	29847	13598	
+1278327894681	29839	29073	30056	13490	
+1278327894781	29784	29495	29921	13567	
+1278327894882	29955	29902	29759	13480	
+1278327894983	29927	29288	29836	13529	
+1278327895083	29870	29619	29936	13587	
+1278327895184	29859	29550	30007	13580	
+1278327895285	29864	29487	29923	13567	
+1278327895385	29870	29491	29968	13563	
+1278327895486	29828	29537	29960	13569	
+1278327895587	29873	29535	29935	13584	
+1278327895687	29831	29501	29916	13569	
+1278327895788	29873	29519	29937	13567	
+1278327895888	29857	29518	29943	13574	
+1278327895989	29884	29475	29968	13567	
+1278327896089	29847	29506	29941	13559	
+1278327896190	29872	29479	29969	13567	
+1278327896291	29888	29468	29943	13560	
+1278327896392	29839	29520	29948	13569	
+1278327896492	29859	29465	29932	13568	
+1278327896592	29868	29479	29937	13559	
+1278327896692	29857	29506	29939	13572	
+1278327896792	29864	29519	29937	13567	
+1278327896892	29859	29487	29934	13567	
+1278327896992	29883	29489	29956	13561	
+1278327897093	29865	29506	29943	13566	
+1278327897193	29868	29511	29952	13575	
+1278327897293	29868	29507	29945	13567	
+1278327897394	29872	29497	29937	13567	
+1278327897495	29859	29496	29934	13569	
+1278327897595	29873	29510	29936	13574	
+1278327897696	29871	29489	29952	13569	
+1278327897796	29863	29496	29956	13568	
+1278327897897	29864	29493	29948	13576	
+1278327897997	29863	29500	29950	13576	
+1278327898098	29863	29500	29948	13572	
+1278327898199	29863	29496	29934	13571	
+1278327898300	29857	29487	29943	13572	
+1278327898400	29872	29495	29939	13567	
+1278327898500	29862	29491	29952	13567	
+1278327898600	29868	29495	29945	13567	
+1278327898700	29862	29491	29956	13563	
+1278327898800	29859	29496	29935	13572	
+1278327898900	29859	29487	29935	13572	
+1278327899000	29863	29488	29934	13568	
+1278327899100	29859	29484	29934	13568	
+1278327899201	29863	29497	29952	13569	
+1278327899301	29857	29502	29927	13576	
+1278327899402	29857	29504	29942	13572	
+1278327899502	29884	29491	29939	13575	
+1278327899603	29868	29523	29929	13575	
+1278327899703	29927	29528	29958	13585	
+1278327899804	29848	29519	29955	13575	
+1278327899904	29816	29479	29969	13567	
+1278327900005	29969	29647	29923	13598	
+1278327900105	29798	29497	29944	13576	
+1278327900206	29943	29372	29999	13560	
+1278327900306	29809	29508	29984	13580	
+1278327900407	29889	29532	29871	13592	
+1278327900507	29968	29479	29887	13574	
+1278327900608	29832	29479	29939	13567	
+1278327900709	29857	29542	29943	13582	
+1278327900809	29843	29516	29958	13584	
+1278327900910	29859	29519	29927	13583	
+1278327901010	29872	29519	29939	13575	
+1278327901111	29880	29489	29964	13569	
+1278327901211	29859	29487	29927	13588	
+1278327901312	29868	29479	29939	13575	
+1278327901412	29857	29487	29941	13582	
+1278327901513	29859	29500	29927	13580	
+1278327901614	29868	29497	29945	13577	
+1278327901714	29880	29484	29938	13575	
+1278327901815	29868	29491	29944	13582	
+1278327901915	29843	29500	29930	13576	
+1278327902016	29863	29512	29934	13584	
+1278327902117	29868	29495	29937	13575	
+1278327902318	29875	29502	29951	13580	
+1278327902418	29855	29519	29937	13583	
+1278327902519	29843	29502	29943	13584	
+1278327902619	29857	29508	29939	13575	
+1278327902720	29873	29518	29927	13583	
+1278327902820	29872	29518	29937	13590	
+1278327902921	29843	29502	29935	13580	
+1278327903021	29857	29470	29927	13576	
+1278327903122	29864	29457	29960	13571	
+1278327903222	29884	29459	29936	13567	
+1278327903323	29896	29479	29937	13575	
+1278327903423	29839	29497	29964	13585	
+1278327903524	29845	29534	29927	13590	
+1278327903625	29873	29528	29935	13584	
+1278327903725	29859	29516	29927	13592	
+1278327903826	29873	29486	29939	13582	
+1278327903926	29870	29537	29968	13587