From ce2219acb7ebb57fcc7a99e20446ce3efdf16d2b Mon Sep 17 00:00:00 2001 From: lm Date: Mon, 5 Jul 2010 21:58:57 +0200 Subject: [PATCH] parameter optimized --- attitude-log1.txt | 580 + attitude-log2.txt | 1848 + controller-log2.txt | 337 + controller-log3.txt | 3014 ++ controller-log30.txt | 1 + controller-log31.txt | 1643 + controller-log32.txt | 3576 ++ controller-log33.txt | 1992 + controller-log34.txt | 1974 + controller-log35.txt | 4622 ++ controller-log36.txt | 1550 + controller-log37.txt | 2223 + controller-log38.txt | 3660 ++ controller-log39.txt | 5183 ++ controller-log4.txt | 905 + controller-log40.txt | 2696 + controller-log41.txt | 3094 ++ controller-log42.txt | 4119 ++ controller-log5.txt | 1359 + controller-log6.txt | 1568 + controller-log7.txt | 4137 ++ controller-log8.txt | 2641 + controller-log9.txt | 1385 + "controller\303\237log.txt" | 1023 + gyro-temp | 92467 ++++++++++++++++++++++++++++++++++ gyrosstemp.txt | 3176 ++ new?log.txt | 685 + parameters_bravo.txt | 44 +- plots.m | 16 + temp.txt | 183 + temp2.txt | 1977 + test | 474 + 32 files changed, 154129 insertions(+), 23 deletions(-) create mode 100644 attitude-log1.txt create mode 100644 attitude-log2.txt create mode 100644 controller-log2.txt create mode 100644 controller-log3.txt create mode 100644 controller-log30.txt create mode 100644 controller-log31.txt create mode 100644 controller-log32.txt create mode 100644 controller-log33.txt create mode 100644 controller-log34.txt create mode 100644 controller-log35.txt create mode 100644 controller-log36.txt create mode 100644 controller-log37.txt create mode 100644 controller-log38.txt create mode 100644 controller-log39.txt create mode 100644 controller-log4.txt create mode 100644 controller-log40.txt create mode 100644 controller-log41.txt create mode 100644 controller-log42.txt create mode 100644 controller-log5.txt create mode 100644 controller-log6.txt create mode 100644 controller-log7.txt create mode 100644 controller-log8.txt create mode 100644 controller-log9.txt create mode 100644 "controller\303\237log.txt" create mode 100644 gyro-temp create mode 100644 gyrosstemp.txt create mode 100644 new?log.txt create mode 100644 plots.m create mode 100644 temp.txt create mode 100644 temp2.txt create mode 100644 test diff --git a/attitude-log1.txt b/attitude-log1.txt new file mode 100644 index 000000000..7640a06bb --- /dev/null +++ b/attitude-log1.txt @@ -0,0 +1,580 @@ +unix_timestamp att_s.x att_s.y att_s.z att_s_rm.x att_s_rm.y att_s_rm.z +1278346113514 0 0 0 0 0 0 +1278346113713 0 0 0 +1278346113714 0 0 0 +1278346113913 0 0 0 +1278346113914 0 0 0 +1278346114114 0 0 0 +1278346114115 0 0 0 +1278346114313 0 0 0 +1278346114314 0 0 0 +1278346114513 0 0 0 +1278346114514 0 0 0 +1278346114715 0 0 0 +1278346114716 0 0 0 +1278346114914 0 0 0 +1278346114915 0 0 0 +1278346115114 0 0 0 +1278346115115 0 0 0 +1278346115316 0 0 0 0 0 0 +1278346115515 0 0 0 +1278346115516 0 0 0 +1278346115715 0 0 0 +1278346115716 0 0 0 +1278346115916 0 0 0 0 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11fc65da5..8eb0da5da 100644 --- a/parameters_bravo.txt +++ b/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 diff --git a/plots.m b/plots.m new file mode 100644 index 000000000..d0d5a3768 --- /dev/null +++ b/plots.m @@ -0,0 +1,16 @@ +% 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 diff --git a/temp.txt b/temp.txt new file mode 100644 index 000000000..42e0b4b9f --- /dev/null +++ b/temp.txt @@ -0,0 +1,183 @@ +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 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