Permalink
Find file Copy path
Fetching contributors…
Cannot retrieve contributors at this time
112 lines (88 sloc) 1.84 KB
###############################################
# Iris Plus tuning:
###############################################
[tuning.iris_plus.altitude]
nominal_throttle = 0.77
# this should be just a PD controller
# ignored now
[tuning.iris_plus.altitude.rate]
p_gain = 0.0
d_gain = 0.0
#i_gain = 0.0
# PID controller
# fixed throttle
# copy of Paparazzi controller
[tuning.iris_plus.altitude.pos]
p_gain = 0.055
d_gain = 0.045
i_gain = 0.03
i_min = -20 # keeping I limits higher to offset for battery dynamics
i_max = 20
err_max = 10
errd_max = 10
# TODO: tweak these to improve alt hold?
[tuning.iris_plus.throttle_ui]
sens = 1.0
dead = 0.01
# PD only
[tuning.iris_plus.attitude.roll.rate]
p_gain = 0.0
d_gain = 0.0
# PI only
[tuning.iris_plus.attitude.roll.pos]
p_gain = 0.15
d_gain = 0.05
dd_gain = 0.0
i_gain = 0.01
i_min = -5.0
i_max = 5.0
# PD only
[tuning.iris_plus.attitude.pitch.rate]
p_gain = 0.0
d_gain = 0.0
# PI only
[tuning.iris_plus.attitude.pitch.pos]
p_gain = 0.15
d_gain = 0.05
dd_gain = 0.0
i_gain = 0.01
i_min = -5.0
i_max = 5.0
# PD, D term is small
[tuning.iris_plus.attitude.yaw.rate]
p_gain = 0.3
d_gain = 0.2
[tuning.iris_plus.attitude.yaw.pos]
p_gain = 0.0
###############################################
# Iris tuning:
###############################################
[tuning.iris.altitude]
nominal_throttle = 0.5
[tuning.iris.altitude.rate]
p_gain = 0.07
d_gain = 0.01
i_gain = 0.015
[tuning.iris.altitude.pos]
p_gain = 0.60
[tuning.iris.throttle_ui]
sens = 1.0
dead = 0.3
[tuning.iris.attitude.roll.rate]
p_gain = 0.045
d_gain = 0.02
[tuning.iris.attitude.roll.pos]
p_gain = 3
d_gain = -0.45
[tuning.iris.attitude.pitch.rate]
p_gain = 0.045
d_gain = 0.02
[tuning.iris.attitude.pitch.pos]
p_gain = 3
d_gain = -0.45
[tuning.iris.attitude.yaw.rate]
p_gain = 0.305
i_gain = 0.015
i_max = 1.0
[tuning.iris.attitude.yaw.pos]
p_gain = 0.25