FEATURE: Add initial_atc.param

ArduPilot · May 23, 2024 · 7eb6d75 · 7eb6d75
1 parent f65e1e3
commit 7eb6d75
Showing 1 changed file with 33 additions and 0 deletions.
diff --git a/MethodicConfigurator/ArduCopter_configuration_steps.json b/MethodicConfigurator/ArduCopter_configuration_steps.json
@@ -127,6 +127,39 @@
         },
         "rename_connection": "vehicle_components['GNSS receiver']['FC Connection']['Type']"
     },
+    "10_initial_atc.param": {
+        "blog_text": "Initial attitude controller configuration",
+        "blog_url": "https://discuss.ardupilot.org/t/how-to-methodically-tune-almost-any-multicopter-using-arducopter-4-4-x/110842#h-211-configure-the-gnss-receivers-15",
+        "wiki_text": "Initial parameters calculator",
+        "wiki_url": "https://discuss.ardupilot.org/t/initial-parameters-calculator-plugin/56909/61",
+        "external_tool_text": "",
+        "external_tool_url": "",
+        "mandatory_text": "100% mandatory (0% optional)",
+        "auto_changed_by": "",
+        "forced_parameters": {
+            "ATC_RAT_PIT_FLTE": { "New Value": "0", "Change Reason": "Initial value, will be improved at a later step" },
+            "ATC_RAT_RLL_FLTE": { "New Value": "0", "Change Reason": "Initial value, will be improved at a later step" },
+            "ATC_RAT_YAW_FLTD": { "New Value": "0", "Change Reason": "Initial value, will be improved at a later step" },
+            "ATC_RAT_YAW_FLTE": { "New Value": "2", "Change Reason": "Initial value, will be improved at a later step" },
+            "ATC_THR_MIX_MAN":  { "New Value": "0.1", "Change Reason": "Value for the first couple of flights will be changed later once MOT_THST_HOVER is learned" },
+            "INS_ACCEL_FILTER": { "New Value": "10", "Change Reason": "The default is 20Hz but that is too high in most situations" },
+            "MOT_THST_HOVER":   { "New Value": "0.2", "Change Reason": "Hover learn will improve this initial guess" }
+        },
+        "derived_parameters": {
+            "ATC_ANG_YAW_P":    { "New Value": "round(0.5*max(8000, round(-900*vehicle_components['Propellers']['Specifications']['Diameter_inches']+36000, -2))/3000, 1)", "Change Reason": "Derived from vehicle component editor propeller size" },
+            "ATC_ACCEL_P_MAX":  { "New Value": "max(10000,(round(-2.613267*vehicle_components['Propellers']['Specifications']['Diameter_inches']**3+343.39216*vehicle_components['Propellers']['Specifications']['Diameter_inches']**2-15083.7121*vehicle_components['Propellers']['Specifications']['Diameter_inches']+235771, -2)))", "Change Reason": "Derived from vehicle component editor propeller size" },
+            "ATC_ACCEL_R_MAX":  { "New Value": "max(10000,(round(-2.613267*vehicle_components['Propellers']['Specifications']['Diameter_inches']**3+343.39216*vehicle_components['Propellers']['Specifications']['Diameter_inches']**2-15083.7121*vehicle_components['Propellers']['Specifications']['Diameter_inches']+235771, -2)))", "Change Reason": "Derived from vehicle component editor propeller size" },
+            "ATC_ACCEL_Y_MAX":  { "New Value": "max(8000, round(-900*vehicle_components['Propellers']['Specifications']['Diameter_inches']+36000, -2))", "Change Reason": "Derived from vehicle component editor propeller size" },
+            "ATC_RAT_PIT_FLTD": { "New Value": "max(20, (round(289.22*vehicle_components['Propellers']['Specifications']['Diameter_inches']**-0.838, 0))) / 2", "Change Reason": "INS_GYRO_FILTER / 2" },
+            "ATC_RAT_PIT_FLTT": { "New Value": "max(20, (round(289.22*vehicle_components['Propellers']['Specifications']['Diameter_inches']**-0.838, 0))) / 2", "Change Reason": "INS_GYRO_FILTER / 2" },
+            "ATC_RAT_RLL_FLTD": { "New Value": "max(20, (round(289.22*vehicle_components['Propellers']['Specifications']['Diameter_inches']**-0.838, 0))) / 2", "Change Reason": "INS_GYRO_FILTER / 2" },
+            "ATC_RAT_RLL_FLTT": { "New Value": "max(20, (round(289.22*vehicle_components['Propellers']['Specifications']['Diameter_inches']**-0.838, 0))) / 2", "Change Reason": "INS_GYRO_FILTER / 2" },
+            "ATC_RAT_YAW_FLTT": { "New Value": "max(20, (round(289.22*vehicle_components['Propellers']['Specifications']['Diameter_inches']**-0.838, 0))) / 2", "Change Reason": "INS_GYRO_FILTER / 2" },
+            "INS_GYRO_FILTER":  { "New Value": "max(20, (round(289.22*vehicle_components['Propellers']['Specifications']['Diameter_inches']**-0.838, 0)))", "Change Reason": "Derived from vehicle component editor propeller size" },
+            "MOT_THST_EXPO":    { "New Value": "round(0.15686*__import__('math').log(vehicle_components['Propellers']['Specifications']['Diameter_inches'])+0.23693, 2)", "Change Reason": "Derived from vehicle component editor propeller size" }
+        },
+        "old_filenames": []
+    },
     "11_mp_setup_mandatory_hardware.param": {
         "blog_text": "Sets up mandatory hardware components, ensuring all necessary sensors and systems are correctly configured.",
         "blog_url": "https://discuss.ardupilot.org/t/how-to-methodically-tune-almost-any-multicopter-using-arducopter-4-4-x/110842#h-212-configure-mandatory-hardware-parameters-16",