I need help for a airspeed with new control loop type.
here is the airframe file.
<!DOCTYPE airframe SYSTEM "./airframe.dtd">
<!-- this is a Zephyr II
* Autopilot: Lisa/M 2.0 http://paparazzi.enac.fr/wiki/Lisa/M_v20
* IMU: Aspirin 2.2 http://paparazzi.enac.fr/wiki/AspirinIMU
* GPS: Ublox 6H http://paparazzi.enac.fr/wiki/Subsystem/gps
* RC: PPM system to SERVO6 http://paparazzi.enac.fr/wiki/Subsystem/radio_control#PPM
* AIRSPEED: ETS AIRSPEED V3 to I2C2
* Modem XBee in transparent mode at 57600 baud
code by kevin
-->
<airframe name="ZII_Lisa/M 2.0">
<firmware name="fixedwing">
<target name="sim" board="pc"/>
<target name="ap" board="lisa_m_2.0">
<configure name="FLASH_MODE" value="DFU"/>
<configure name="PERIODIC_FREQUENCY" value="120"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
</target>
<define name="USE_I2C2"/>
<define name="SENSOR_SYNC_SEND" value="1"/>
<define name="USE_AIRSPEED"/>
<define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/>
<define name="STRONG_WIND"/>
<define name="USE_MAGNETOMETER" value="FALSE"/>
<subsystem name="radio_control" type="ppm">
<configure name="RADIO_CONTROL_PPM_PIN" value="SERVO6"/>
</subsystem>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.2"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="ins" type="alt_float"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="control" type="new"/>
<subsystem name="navigation" type="extra"/>
</firmware>
<modules>
<load name="digital_cam.xml">
<define name="DC_SHUTTER_LED" value="4"/>
</load>
<load name="airspeed_ets.xml">
<define name="AIRSPEED_ETS_I2C_DEV" value="i2c2"/>
</load>
</modules>
<!-- commands section -->
<servos>
<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILEVON_LEFT" no="1" min="1900" neutral="1500" max="1100"/>
<servo name="AILEVON_RIGHT" no="2" min="1100" neutral="1500" max="1900"/>
</servos>
<section name="MIXER">
<define name="AILEVON_AILERON_RATE" value="0.75"/>
<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
</section>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
</rc_commands>
<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="50." unit="deg"/>
<define name="MAX_PITCH" value="35." unit="deg"/>
</section>
<!--硬件section-->
<section name="DIGITAL_CAMERA" prefix="DC_">
<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="8" unit="quarter_second"/>
<define name="AUTOSHOOT_METER_GRID" value="60" unit="meter"/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="30000" unit="mA"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.6" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.5" unit="V"/>
</section>
<section name="IMU" prefix="IMU_">
<!-- ACCEL and GYRO calibration left out to take default datasheet values -->
<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="MISC">
<define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
<define name="CARROT" value="10." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.2*MAX_DIST_FROM_HOME)"/>
<define name="NAV_RADIUS" value="30" unit="m"/>
<define name="NO_XBEE_API_INIT" value="TRUE"/>
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
<define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
</section>
<!-- -->
<section name="AHRS" prefix="AHRS_">
<!--local Magnetic Field need to be tunning -->
<define name="H_X" value=" 0.51562740288882"/>
<define name="H_Y" value="-0.05707735220832"/>
<define name="H_Z" value=" 0.85490967783446"/>
</section>
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
</section>
<section name="Takeoff" prefix="Takeoff_">
<define name="Height" value="30" unit="m"/>
<define name="Speed" value="12" unit="m/s"/>
<define name="Distance" value="2" unit="m"/>
<define name="Minspeed" value="4" unit="m/s"/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop V_CTL_AUTO_AIRSPEED_THROTTLE_PGAIN' -->
<define name="ALTITUDE_PGAIN" value="0.055" unit="(m/s)/m"/>
<define name="ALTITUDE_MAX_CLIMB" value="3." unit="m/s"/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.8" unit="%"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.5" unit="%"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1.0" unit="%"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500" unit="pprz_t"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000" unit="pprz_t"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.02" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05" unit="rad/(m/s)"/>
<define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.02" unit="%/(m/s)"/>
<define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.1"/>
<define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
<!--auto pitch inner loop-->
<define name="AUTO_PITCH_PGAIN" value="0.105"/>
<define name="AUTO_PITCH_IGAIN" value="0.025"/>
<define name="AUTO_PITCH_DGAIN" value="0.00"/>
<define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
<define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-25)"/>
<define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.125"/>
<define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.025"/>
<!-- auto airspeed and altitude inner loop -->
<define name="AUTO_AIRSPEED_SETPOINT" value="10.5" unit="m/s"/>
<define name="AUTO_AIRSPEED_PGAIN" value="0.100"/>
<define name="AUTO_AIRSPEED_IGAIN" value="0.030"/>
<define name="AUTO_GROUNDSPEED_SETPOINT" value="6.0" unit="m/s"/>
<define name="AUTO_GROUNDSPEED_PGAIN" value="0.105"/>
<define name="AUTO_GROUNDSPEED_IGAIN" value="0.025"/>
<define name="AIRSPEED_MAX" value="15"/>
<define name="AIRSPEED_MIN" value="3"/>
<define name="THROTTLE_SLEW" value="1.0"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="0.7"/>
<define name="ROLL_MAX_SETPOINT" value="45" unit="deg"/>
<define name="PITCH_MAX_SETPOINT" value="30" unit="deg"/>
<define name="PITCH_MIN_SETPOINT" value="-30" unit="deg"/>
<define name="PITCH_PGAIN" value="20000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
<define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="1500"/>
</section>
<section name="NAV">
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
<define name="CLIMB_THROTTLE" value="1.00"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent -->
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
<define name="DESCENT_NAV_RATIO" value="1.0"/>
</section>
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.4" unit="%"/>
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="200" unit="m"/>
</section>
</airframe>
the sim result is very bad. VCTL, and HCTL have problem. someone can help me to adjust this PID ? thank you so much
