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Re: [Paparazzi-devel] how to work with INDI on lisa m2 board?

From: Ewoud Smeur
Subject: Re: [Paparazzi-devel] how to work with INDI on lisa m2 board?
Date: Thu, 10 Aug 2017 14:41:30 +0000

Good to hear you liked it! See if you can find some of your answers here:

Optimally, you find out what the actuator dynamics are, i.e. try to log a step response to the motor and try to model the rpm response with a first order filter. Ideally, you also are able to log flight data at full speed (512 hz) on an SD card.

Else, we need to resort to guesswork. In that case, you may try this configuration:
<define name="ACT_DYN_P" value="0.06"/>

<define name="ACT_DYN_Q" value="0.06"/>

<define name="ACT_DYN_R" value="0.06"/>

    <define name="REF_ERR_P" value="107.0"/>
    <define name="REF_ERR_Q" value="107.0"/>
    <define name="REF_ERR_R" value="107.0"/>
    <define name="REF_RATE_P" value="14.0"/>
    <define name="REF_RATE_Q" value="14.0"/>
    <define name="REF_RATE_R" value="14.0"/>

The control effectiveness can be adapted online, if you put the use_adaptive flag to true (can be done through the settings tab). However, this can only work correctly with a reasonable estimate of the actuator dynamics (ACT_DYN).

Hope this helps!

Van: Paparazzi-devel <paparazzi-devel-bounces+address@hidden> namens banditniu <address@hidden>
Verzonden: donderdag 10 augustus 2017 14:51
Aan: address@hidden
Onderwerp: Re: [Paparazzi-devel] how to work with INDI on lisa m2 board?
Hi , I solved the building problem I just specified it with indi_simple and
it worked ,but i am still in the trouble with dealing oscillating problem !
I read your paper published on J of GC&D  and it was amazing !  So can you
help me with debugging my drone from oscillating ? Thanks a lot!

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