Re: [Paparazzi-devel] eliminate ATT steady-state error

[Eduardo lavratti]

Sergey, i reduce the IERROR_SCALE to 256 and my quad fly very well.

> To: address@hidden
> Date: Fri, 22 May 2015 08:00:55 +0200
> From: address@hidden
> Subject: Re: [Paparazzi-devel] eliminate ATT steady-state error
>
> I found that there is any improvement at all is increasing igain to about
> 2000-8000. (I'm using euler stabilization however). The probable reason
> for that in quat stabilization is that the IERROR_SCALE value is too high:
> https://github.com/paparazzi/paparazzi/blob/master/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.c#L255-L257
>
> Best regards,
> Sergey
>
> > Hi Eduardo.
> >
> > I have already tried to increase i term to 800 but found no improvement
> >
> > quadrotor_wecam.xml
> > <http://lists.paparazziuav.org/file/n17022/quadrotor_wecam.xml>
> >
> > <airframe name="Quadrotor XYZ pwm">
> >
> > <modules main_freq="512">
> > <load name="send_imu_mag_current.xml"/>
> > <load name="openlog.xml"/>
> > <load name="gps_ubx_ucenter.xml"/>
> > <load name="sys_mon.xml"/>
> > <load name="bat_checker.xml"/>
> > <load name="geo_mag.xml"/>
> > </modules>
> >
> > <firmware name="rotorcraft">
> > <target name="ap" board="krooz_sd">
> > <subsystem name="radio_control" type="datalink">
> > <define name="RADIO_MODE" value="RADIO_AUX1"/>
> > <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="0"/>
> > </subsystem>
> > </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="krooz_sd"/>
> > <subsystem name="gps" type="ublox"/>
> > <subsystem name="stabilization" type="int_quat"/>
> > <subsystem name="ahrs" type="int_cmpl_quat">
> > <define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/>
> > </subsystem>
> > <subsystem name="ins" type="hff"/>
> >
> > <define name="USE_GPS_ACC4R" value="1"/>
> > <define name="HFF_R_POS_MIN" value="2.5"/>
> > <define name="HFF_R_SPEED_MIN" value="0.5"/>
> > <define name="HFF_ACCEL_NOISE" value="1."/>
> > <define name="VF_FLOAT_MEAS_NOISE" value="1."/>
> > </firmware>
> >
> > <servos driver="Pwm">
> > <servo name="NE" no="0" min="1000" neutral="1150" max="1900"/>
> > <servo name="SE" no="1" min="1000" neutral="1150" max="1900"/>
> > <servo name="SW" no="2" min="1000" neutral="1150" max="1900"/>
> > <servo name="NW" no="3" min="1000" neutral="1150" 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>
> >
> > <command_laws>
> > <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
> > <set servo="NE" value="motor_mixing.commands[0]"/>
> > <set servo="SE" value="motor_mixing.commands[1]"/>
> > <set servo="SW" value="motor_mixing.commands[2]"/>
> > <set servo="NW" value="motor_mixing.commands[3]"/>
> > </command_laws>
> >
> > <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="{ -MOTOR_MIXING_SCALE,
> > -MOTOR_MIXING_SCALE, MOTOR_MIXING_SCALE, MOTOR_MIXING_SCALE }"/>
> > <define name="PITCH_COEF" value="{ MOTOR_MIXING_SCALE,
> > -MOTOR_MIXING_SCALE, -MOTOR_MIXING_SCALE, MOTOR_MIXING_SCALE }"/>
> > <define name="YAW_COEF" value="{ MOTOR_MIXING_SCALE,
> > -MOTOR_MIXING_SCALE, MOTOR_MIXING_SCALE, -MOTOR_MIXING_SCALE }"/>
> > <define name="THRUST_COEF" value="{ MOTOR_MIXING_SCALE,
> > MOTOR_MIXING_SCALE, MOTOR_MIXING_SCALE, MOTOR_MIXING_SCALE }"/>
> > </section>
> >
> > <section name="IMU" prefix="IMU_">
> >
> >
> >
>
>
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