Re: [Paparazzi-devel] Copter tuning/setup cookbook step-by-step

[SilaS]

Hi bshaot,

Many thnx for your clean answer! I fight a bit with telemetry settings but
after it I was able to tune a better config! I placed the hexa on a garage
door two side via a packaging rubber, so it was able to move absolut free on
pitch, a small amount on height and nearly nothing on roll. But of course
the rubber allow some movements.
I was unable to find the m_phi, therefore I used the est_phi! Is this
correct? Of course I translated every variables to pitch!

<http://lists.paparazziuav.org/file/n14435/tarot_att_config_2bad_and_good.png> 

I made the same commands on the 1 and 2 point. 1 is a long pushed forward on
elevator, the 2 is a quick thick forward. This was with 1800 as theta_pgain
and 240 on theta_dgain.
After it I quickly change 1800 -> 1004 and 240 -> 344
and execute the same commands!

As I see above the est_theta made oscillation after release of controll
tick. This oscillation shows larger at the 2 during the quick pick forward!
At the new config this oscillation seems lower at the 3 and near disappeared
at the 4!

The most insterresting is the lower graph! Where we can detect the 1 and 2,
but nothing from 3!!! The 4 next to it interresting. I do not understand why
moved delta_e_ff?

Is it, what I have to see if I set it correct?

I only changed theta_pgain and theta_dgain any other was unchanged!

    
    <define name="PHI_PGAIN" value="1004"/> 
    <define name="PHI_DGAIN" value="344"/>
    <define name="PHI_IGAIN" value="200"/>

    <define name="THETA_PGAIN" value="1004"/> 
    <define name="THETA_DGAIN" value="344"/> 
    <define name="THETA_IGAIN" value="200"/>

    <define name="PSI_PGAIN" value="1000"/>
    <define name="PSI_DGAIN" value="350"/>
    <define name="PSI_IGAIN" value="20"/> 

    
    <define name="PHI_DDGAIN" value="170"/>
    <define name="THETA_DDGAIN" value="170"/>
    <define name="PSI_DDGAIN" value="170"/>

    <define name="PHI_AGAIN" value="0"/>
    <define name="THETA_AGAIN" value="0"/>
    <define name="PSI_AGAIN" value="0"/>
  </section>

SilaS




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