[Date Prev][Date Next][Thread Prev][Thread Next][Date Index][Thread Index]
[Paparazzi-devel] PPZ quadrotor make me crazy~~
|
From: |
bshaot |
|
Subject: |
[Paparazzi-devel] PPZ quadrotor make me crazy~~ |
|
Date: |
Sat, 26 Oct 2013 05:48:30 -0700 (PDT) |
Hello everyone,
I am a Chinese ppz user，Since the last time I lost my ppz quadrotor has
been a month.I fly another ppz quadrotor newly installed this
afternoon，found 3 serious questions：*A*，When the plane landed, have a
serious rebound，make landing very difficult！*B*，The throttle have drift very
serious.In manual mode，Roll/Pitch steering will make the plane climb very
high（This is why I'm the last plane out of control）.*C*，When the plane
vertical drop, the course will happen very obvious change.
Can someone give some guidance? Thanks！
Aircraft configuration：
Lisa m 2.0，Aspirin2.1，F450,2810,1147 in X mode.
Below is my XML：
<airframe name="Quadrotor LisaM_2.0 pwm">
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0">
<subsystem name="radio_control" type="ppm"/>
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING"/>
</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="aspirin_v2.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
</subsystem>
<subsystem name="ins"/>
</firmware>
<servos driver="Pwm">
<servo name="NE" no="0" min="1000" neutral="1000" max="1900"/>
<servo name="SE" no="1" min="1000" neutral="1000" max="1900"/>
<servo name="SW" no="2" min="1000" neutral="1000" max="1900"/>
<servo name="NW" no="3" min="1000" neutral="1000" 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>
<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="{ -256, -256, 256, 256 }"/>
<define name="PITCH_COEF" value="{ 256, -256, -256, 256 }"/>
<define name="YAW_COEF" value="{ -256, 256, -256, 256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<set servo="NE" value="motor_mixing.commands[SERVO_NE]"/>
<set servo="SE" value="motor_mixing.commands[SERVO_SE]"/>
<set servo="SW" value="motor_mixing.commands[SERVO_SW]"/>
<set servo="NW" value="motor_mixing.commands[SERVO_NW]"/>
</command_laws>
<section name="IMU" prefix="IMU_">
<define name="ACCEL_X_NEUTRAL" value="11"/>
<define name="ACCEL_Y_NEUTRAL" value="11"/>
<define name="ACCEL_Z_NEUTRAL" value="-25"/>
<define name="MAG_X_NEUTRAL" value="370"/>
<define name="MAG_Y_NEUTRAL" value="175"/>
<define name="MAG_Z_NEUTRAL" value="370"/>
<define name="MAG_X_SENS" value="3.81573853324" integer="16"/>
<define name="MAG_Y_SENS" value="3.87309255575" integer="16"/>
<define name="MAG_Z_SENS" value="4.2639500237" integer="16"/>
<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>
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="H_X" value="0.5169001"/>
<define name="H_Y" value="-0.0596905"/>
<define name="H_Z" value="0.8539621"/>
</section>
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22.3" integer="16"/>
</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="320" />
<define name="GAIN_Q" value="320" />
<define name="GAIN_R" value="350" />
<define name="IGAIN_P" value="300" />
<define name="IGAIN_Q" value="300" />
<define name="IGAIN_R" value="300" />
<define name="DDGAIN_P" value="6" />
<define name="DDGAIN_Q" value="6" />
<define name="DDGAIN_R" value="10" />
</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_A" value="10"/>
<define name="DEADBAND_E" value="10"/>
<define name="DEADBAND_R" value="300"/>
<define name="REF_OMEGA_P" value="800" 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="800" 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="500" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<define name="PHI_PGAIN" value="1000" />
<define name="PHI_DGAIN" value="500" />
<define name="PHI_IGAIN" value="190" />
<define name="THETA_PGAIN" value="1000" />
<define name="THETA_DGAIN" value="500" />
<define name="THETA_IGAIN" value="190" />
<define name="PSI_PGAIN" value="500" />
<define name="PSI_DGAIN" value="300" />
<define name="PSI_IGAIN" value="10" />
<define name="PHI_DDGAIN" value="400" />
<define name="THETA_DDGAIN" value="400" />
<define name="PSI_DDGAIN" value="400" />
</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="HOVER_KP" value="135"/>
<define name="HOVER_KD" value="100"/>
<define name="HOVER_KI" value="20"/>
<define name="RC_CLIMB_COEF" value="163"/>
<define name="RC_CLIMB_DEAD_BAND" value="160000"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="20" unit="deg"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="20"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{"ne_motor",
"se_motor", "sw_motor", "nw_motor"}"/>
<define name="INITIAL_CONDITITONS" value=""reset00""/>
<define name="SENSORS_PARAMS"
value=""nps_sensors_params_default.h""/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD" />
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
<define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>
</airframe>
--
View this message in context:
http://paparazzi.517.n7.nabble.com/PPZ-quadrotor-make-me-crazy-tp13880.html
Sent from the paparazzi-devel mailing list archive at Nabble.com.
- [Paparazzi-devel] PPZ quadrotor make me crazy~~,
bshaot <=