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Stable v1.9.1 fixes #12317

Merged
merged 7 commits into from
Jun 24, 2019
Merged

Stable v1.9.1 fixes #12317

merged 7 commits into from
Jun 24, 2019

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dagar
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@dagar dagar commented Jun 22, 2019 •
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TODO: #12315

@dagar dagar added this to the Release v1.9.1 milestone Jun 22, 2019
@dagar dagar self-assigned this Jun 22, 2019
@weekly-digest weekly-digest bot mentioned this pull request Jun 23, 2019
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@bkueng
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bkueng commented Jun 24, 2019

@dagar can you cherry-pick ea31f34 as well? @MaEtUgR and I want to increase the default I gains.

@bkueng @dagar
mc rate controller: add I term reduction factor
6956d85 
Reduce the I gain for high rate errors to reduce bounce-back effects after
flips. Up to 200 degrees the gain is almost not reduced (<25%), so this
will only take noticeable effects for large errors (setpoint changes),
where we actually want to have an effect.

This allows to increase the MC_*RATE_I parameters w/o negative effects
when doing flips (i.e. bounce-back after flips).

The 400 degrees limit and the x^2 are empirical.

The better the rate tracking in general (high P gain), the less this is
required (because of the lower tracking error). At the same time it also
does not harm, as the i_factor will always be close to 1.
@dagar
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dagar commented Jun 24, 2019

@dagar can you cherry-pick ea31f34 as well? @MaEtUgR and I want to increase the default I gains.

Done. 6956d85

@MaEtUgR @dagar
Airframes: add Holybro S500 Kit which was tested at dev summit
7195ae9
@MaEtUgR @dagar
Airframes: rename normal S500 to generic and remove PX4 defaults
40e804d
@MaEtUgR @dagar
mc_att_control: Increase default rate integral gain
415b366 
@bkueang and me realized that on every frame we tune the integral gain for
the roll and pitch rate controller is much too low. Usually it needs to be
increased to 0.3 or even 0.4 to have better "locked in" flight performance
and 0.2 seems like a good compromise for a safe default.
@dagar dagar requested a review from a team June 24, 2019 16:37
@dagar
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dagar commented Jun 24, 2019

@MaEtUgR @bkueng could you please sign off on this as v1.9.1 as well?

@dagar dagar marked this pull request as ready for review June 24, 2019 16:51
@LorenzMeier LorenzMeier merged this pull request into stable Jun 24, 2019
@jorge789
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Tested on Pixhawk 2 Cube V3:

Modes Tested

Position Mode: Good.
Altitude Mode: Good.
Stabilized Mode: Good.
Mission Plan Mode (Automated): Good.
RTL: Good.

Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoin activate RTL and see landing behaviour.

Notes:
No issues noted, good flight in general.

**Log:**PR12317

https://review.px4.io/plot_app?log=6d24e8e9-09c7-45c2-835f-a64a4dfaa968

https://review.px4.io/plot_app?log=415dbc8f-7145-4c7a-a688-f4ac3e47dac4

Logs: Comparison to master V1.9.0

https://review.px4.io/plot_app?log=0895c306-2525-4ed5-acf6-293ab9b5f559

https://review.px4.io/plot_app?log=19cd1a26-40fe-4c39-854b-9df431494cfe

@dannyfpv
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dannyfpv commented Jun 25, 2019 •
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tested on Pixhawk4 v5 f-450
Modes Tested

mission Mode: no issue
Altitude Mode: no issue
Stabilized Mode: no issue
rtl mode: no issue
ground wind speed in m/s: 2.1

1.9.1 log:
https://review.px4.io/plot_app?log=4ff9d193-bd65-4c7e-93e9-6a6501c9fde0
https://review.px4.io/plot_app?log=6564204b-363d-4a69-8bb5-1072dd4b230a

1.9.0 log:
https://review.px4.io/plot_app?log=6ce9c9df-f19c-4be1-b929-994fe94d5b28

tested on Pixhawk1 V3 fixed wing
Modes Tested

mission Mode: no issue
Altitude Mode: no issue
Stabilized Mode: no issue
rtl mode: no issue
ground wind speed in m/s: 2.1

1.9.1 log:
https://review.px4.io/plot_app?log=40a039fc-8ddb-457d-a445-8267f603384b

1.9.0 log:
https://review.px4.io/plot_app?log=bdc942c4-a55f-4c8e-931e-0d2387a883a1

@Junkim3DR
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Tested on Pixhawk 4 mini v5:

Modes Tested

  • Position Mode: Good.
  • Altitude Mode: Good.
  • Stabilized Mode: Good.
  • Mission Plan Mode (Automated): Good.
  • RTL: Good.

Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoint activate RTL and see landing behaviour.

Notes:
No issues noted, good flight in general.

PR12317 v1.9.1

Comparison v1.9.0

Tested on Pixhawk Pro v4Pro:

Modes Tested

  • Position Mode: Good.
  • Altitude Mode: Good.
  • Stabilized Mode: Good.
  • Mission Plan Mode (Automated): Good.
  • RTL: Good.

Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoint activate RTL and see landing behaviour.

Notes:
No issues noted, good flight in general.

PR12317 v1.9.1

Comparison v1.9.0

@weekly-digest weekly-digest bot mentioned this pull request Jun 30, 2019
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@LorenzMeier LorenzMeier LorenzMeier approved these changes

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@dagar @bkueng @jorge789 @dannyfpv @Junkim3DR @LorenzMeier @MaEtUgR @mrivi @davids5