Commit ce2219ac authored by lm's avatar lm

parameter optimized

parent 1c3d18c0
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......@@ -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
......
% 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
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
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