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Re: [Paparazzi-devel] How to solve the radio control delay ?

From: Eltonwu
Subject: Re: [Paparazzi-devel] How to solve the radio control delay ?
Date: Tue, 19 Aug 2014 18:53:57 -0700 (PDT)

Dear flixr

I use the LisaM2.0 reference configuration.

<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs"          type="int_cmpl_quat">
  <define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/>
<subsystem name="ins"/>

The delay is I estimated when I control the craft.

Would you like to list the possible reason for me to check it one by one?

Thank you

Dear Christophe De Wagter 

How can I change the reference model, modify the xml config file?

<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.)"/>

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