|From:||Prof. Dr.-Ing. Heinrich Warmers|
|Subject:||Re: [Paparazzi-devel] Changing the main loop frequency on the Tiny|
|Date:||Mon, 15 Aug 2011 21:57:14 +0200|
|User-agent:||Mozilla/5.0 (Windows; U; Windows NT 5.0; de-DE; rv:1.4) Gecko/20030619 Netscape/7.1 (ax)|
i found just an error in my last mail.
The rate has to be set 8 times for the largest time constant in the loop.
The phase error by the DDC is then lower 10° .
Felix Ruess schrieb:
Hi Andreas, Of course you can... just depending on what you use you might need to code a bit ;-) I assume you are using an imu that you can read with a higher rate? Which one? As a subsystem or module? For fixedwings you can set the rates of reading imu, propagation and updates: <configure name="PERIODIC_FREQUENCY" value="120"/> <!-- IMU FREQ --> <configure name="AHRS_PROPAGATE_FREQUENCY" value="120"/> <configure name="AHRS_CORRECT_FREQUENCY" value="60"/> Then you can <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/> to trigger the control loops when a new attitude was computed. I just commited a small fix to the dev branch: - update the fw_estimator not only after a correction, but after propagation as well (if correction is running at a lower rate) - if you use AHRS_TRIGGERED_ATTITUDE_LOOP way it only is triggered if you actually have a new attitude estimate and not every time you get a gyro callback. This is all not especially nice, we should be able to set this more flexibly (and e.g. also select a lower rates for gyros than accels, etc...). So feel free to improve this in main_ap.c ;-) Cheers, Felix On Mon, Aug 15, 2011 at 1:49 PM, Prof. Dr.-Ing. Heinrich Warmers <address@hidden> wrote:Hi Andreas, i think yes, depending what kind of AHS you use. If you use the IR and the DCM for normal plane there is no problem. The processor load is less then 25 %. But look to the main time constants. It is only necessary to be about 8 times faster then the lowest time constant in your feedback control system. Regards Heinrich Andreas Gaeb schrieb:Hello everybody, is it possible to increase the main loop frequency on the Tiny 2.11 beyond 60 Hz? The sys_mon module indicates there is still some headroom in terms of processor load, and my PID experiments would greatly benefit from a higher frequency. Best regards, Andreas _______________________________________________ Paparazzi-devel mailing list address@hidden https://lists.nongnu.org/mailman/listinfo/paparazzi-devel_______________________________________________ Paparazzi-devel mailing list address@hidden https://lists.nongnu.org/mailman/listinfo/paparazzi-devel_______________________________________________ Paparazzi-devel mailing list address@hidden https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
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