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Re: [Paparazzi-devel] What the meaning of "STABILIZATION_ATTITUDE" secti

From: Felix Ruess
Subject: Re: [Paparazzi-devel] What the meaning of "STABILIZATION_ATTITUDE" section in XML configure file
Date: Wed, 2 Jul 2014 10:29:28 +0200



Cheers, Felix

On Wed, Jul 2, 2014 at 8:10 AM, Eltonwu <address@hidden> wrote:
    I'm new to paparazziUAV. Currently,I'm able to flash the software to the
board and the rotorcraft can fly basically. Although the rotorcarft has some
oscillation when flying.I think the parameters of attitude PID is not tuned
well.Do you have some experience of tuning PID ?

    By the way, what the meaning of following parameters ?

    in File "quadrotor_lisa_m_2_pwm_spektrum.xml" Section

    <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.)"/>

    Any answer will be appreciated !!!

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