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[Paparazzi-devel] PPZ quadrotor make me crazy~~


From: bshaot
Subject: [Paparazzi-devel] PPZ quadrotor make me crazy~~
Date: Sat, 26 Oct 2013 05:48:30 -0700 (PDT)

Hello everyone,
    I am a Chinese ppz user,Since the last time I lost my ppz quadrotor has
been a month.I fly another ppz quadrotor newly installed this
afternoon,found 3 serious questions:*A*,When the plane landed, have a
serious rebound,make landing very difficult!*B*,The throttle have drift very
serious.In manual mode,Roll/Pitch steering will make the plane climb very
high(This is why I'm the last plane out of control).*C*,When the plane
vertical drop, the course will happen very obvious change.
   Can someone give some guidance? Thanks!

Aircraft configuration:
Lisa m 2.0,Aspirin2.1,F450,2810,1147 in X mode.

Below is my XML:


<airframe name="Quadrotor LisaM_2.0 pwm">                     

  <firmware name="rotorcraft">                              
    <target name="ap" board="lisa_m_2.0">                   
     <subsystem name="radio_control" type="ppm"/>            
      <define name="LOITER_TRIM"/>
      <define name="ALT_KALMAN"/> 
      <define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING"/>     
    </target>

    <target name="nps" board="pc">
      <subsystem name="fdm" type="jsbsim"/>
      <subsystem name="radio_control" type="ppm"/>
    </target>

      <subsystem name="motor_mixing"/>                      
      <subsystem name="actuators" type="pwm">               
        <define name="SERVO_HZ" value="400"/>               
      </subsystem>



    <subsystem name="telemetry" type="transparent" />       

    <subsystem name="imu" type="aspirin_v2.1"/>             

    <subsystem name="gps" type="ublox"/>                    

    <subsystem name="stabilization" type="int_quat"/>       
                                                            
    </subsystem>

    <subsystem name="ins"/>

  </firmware>

   
  

  <servos driver="Pwm">
    <servo name="NE" no="0" min="1000" neutral="1000" max="1900"/>
    <servo name="SE" no="1" min="1000" neutral="1000" max="1900"/>
    <servo name="SW" no="2" min="1000" neutral="1000" max="1900"/>
    <servo name="NW" no="3" min="1000" neutral="1000" max="1900"/> 
  </servos>

  <commands>                                                      
    <axis name="ROLL"   failsafe_value="0"/>
    <axis name="PITCH"  failsafe_value="0"/>
    <axis name="YAW"    failsafe_value="0"/>
    <axis name="THRUST" failsafe_value="0"/>
  </commands>

  <section name="MIXING" prefix="MOTOR_MIXING_">
    <define name="TRIM_ROLL" value="0"/>
    <define name="TRIM_PITCH" value="0"/>
    <define name="TRIM_YAW" value="0"/>
    <define name="NB_MOTOR" value="4"/>
    <define name="SCALE" value="256"/>
    
    <define name="ROLL_COEF" value="{ -256, -256,  256,  256 }"/>
    <define name="PITCH_COEF" value="{  256, -256, -256,  256 }"/>
    <define name="YAW_COEF" value="{  -256, 256,  -256, 256 }"/>
    <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
  </section>

  <command_laws>
    <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
    <set servo="NE" value="motor_mixing.commands[SERVO_NE]"/>
    <set servo="SE" value="motor_mixing.commands[SERVO_SE]"/>
    <set servo="SW" value="motor_mixing.commands[SERVO_SW]"/>
    <set servo="NW" value="motor_mixing.commands[SERVO_NW]"/>
  </command_laws>

  <section name="IMU" prefix="IMU_">
    <define name="ACCEL_X_NEUTRAL" value="11"/>
    <define name="ACCEL_Y_NEUTRAL" value="11"/>
    <define name="ACCEL_Z_NEUTRAL" value="-25"/>


    
    <define name="MAG_X_NEUTRAL" value="370"/>
    <define name="MAG_Y_NEUTRAL" value="175"/>
    <define name="MAG_Z_NEUTRAL" value="370"/>
    <define name="MAG_X_SENS" value="3.81573853324" integer="16"/>
    <define name="MAG_Y_SENS" value="3.87309255575" integer="16"/>
    <define name="MAG_Z_SENS" value="4.2639500237" integer="16"/>
  
    <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
    <define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
  </section>

  
    <define name="PROPAGATE_FREQUENCY" value="512"/>
    <define name="H_X" value="0.5169001"/>
    <define name="H_Y" value="-0.0596905"/>
    <define name="H_Z" value="0.8539621"/>  
  </section>

  <section name="INS" prefix="INS_">
    <define name="BARO_SENS" value="22.3" integer="16"/>
  </section>

  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
    
    <define name="SP_MAX_P" value="10000"/>
    <define name="SP_MAX_Q" value="10000"/>
    <define name="SP_MAX_R" value="10000"/>
    <define name="DEADBAND_P" value="20"/> 
    <define name="DEADBAND_Q" value="20"/> 
    <define name="DEADBAND_R" value="200"/>
    <define name="REF_TAU" value="4"/>

    
    <define name="GAIN_P" value="320" />
    <define name="GAIN_Q" value="320" />
    <define name="GAIN_R" value="350" />

    <define name="IGAIN_P" value="300" />
    <define name="IGAIN_Q" value="300" />
    <define name="IGAIN_R" value="300" />

    
    <define name="DDGAIN_P" value="6" />
    <define name="DDGAIN_Q" value="6" />
    <define name="DDGAIN_R" value="10" />
  </section> 


  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
    
    <define name="SP_MAX_PHI" value="30." unit="deg"/>
    <define name="SP_MAX_THETA" value="30." unit="deg"/>
    <define name="SP_MAX_R" value="90." unit="deg/s"/>
    <define name="DEADBAND_A" value="10"/>
    <define name="DEADBAND_E" value="10"/>
    <define name="DEADBAND_R" value="300"/>

    
    <define name="REF_OMEGA_P" value="800" unit="deg/s"/>
    <define name="REF_ZETA_P" value="0.85"/>
    <define name="REF_MAX_P" value="400." unit="deg/s"/>
    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>

    <define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
    <define name="REF_ZETA_Q" value="0.85"/>
    <define name="REF_MAX_Q" value="400." unit="deg/s"/>
    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>

    <define name="REF_OMEGA_R" value="500" unit="deg/s"/>
    <define name="REF_ZETA_R" value="0.85"/>
    <define name="REF_MAX_R" value="180." unit="deg/s"/>
    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>

                  
    <define name="PHI_PGAIN" value="1000" />  
    <define name="PHI_DGAIN" value="500" />  
    <define name="PHI_IGAIN" value="190" />  
 
    <define name="THETA_PGAIN" value="1000" />  
    <define name="THETA_DGAIN" value="500" />  
    <define name="THETA_IGAIN" value="190" />  

    <define name="PSI_PGAIN" value="500" />
    <define name="PSI_DGAIN" value="300" />
    <define name="PSI_IGAIN" value="10" />

    
    <define name="PHI_DDGAIN" value="400" />
    <define name="THETA_DDGAIN" value="400" />
    <define name="PSI_DDGAIN" value="400" />
  </section>

  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
    <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
    <define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
    <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
    <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
    <define name="MAX_SUM_ERR" value="2000000"/>
    <define name="HOVER_KP" value="135"/> 
    <define name="HOVER_KD" value="100"/> 
    <define name="HOVER_KI" value="20"/> 
    
    <define name="RC_CLIMB_COEF" value="163"/>
    
    <define name="RC_CLIMB_DEAD_BAND" value="160000"/>
  </section>


  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
    <define name="MAX_BANK" value="20" unit="deg"/>
    <define name="PGAIN" value="50"/>
    <define name="DGAIN" value="100"/>
    <define name="IGAIN" value="20"/>
  </section>



  <section name="SIMULATOR" prefix="NPS_">
    <define name="ACTUATOR_NAMES" value="{&quot;ne_motor&quot;,
&quot;se_motor&quot;, &quot;sw_motor&quot;, &quot;nw_motor&quot;}"/>
    <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
    <define name="SENSORS_PARAMS"
value="&quot;nps_sensors_params_default.h&quot;"/>
  </section>

  <section name="AUTOPILOT">
    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/> 
    <define name="MODE_AUTO1"  value="AP_MODE_HOVER_Z_HOLD" />   
  </section>

  <section name="BAT">
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
    <define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
    <define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
  </section>

</airframe>





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