Changeset 175 in flair-src for trunk/demos/CircleFollower/uav


Ignore:
Timestamp:
Apr 26, 2017, 2:51:22 PM (8 years ago)
Author:
Sanahuja Guillaume
Message:

m

File:
1 edited

Legend:

Unmodified
Added
Removed

  • trunk/demos/CircleFollower/uav/build_arm/bin/CircleFollower_bebop.xml

    r174 r175  
    1717            <Label name="flight time"/>
    1818            <DoubleSpinBox name="min value:" value="0"/>
    19             <DoubleSpinBox name="max value:" value="1.00"/>
    20             <DoubleSpinBox name="test value:" value="0.40"/>
     19            <DoubleSpinBox name="max value:" value="1"/>
     20            <DoubleSpinBox name="test value:" value="0.4"/>
    2121            <PushButton name="test motor 0"/>
    2222            <PushButton name="test motor 1"/>
    … …  
    5050          <GroupBox name="Passe bas">
    5151            <DoubleSpinBox name="period, 0 for auto" value="0"/>
    52             <DoubleSpinBox name="cutoff frequency" value="5.00"/>
     52            <DoubleSpinBox name="cutoff frequency" value="5"/>
    5353          </GroupBox>
    5454          <GroupBox name="Vz">
    … …  
    5757          <GroupBox name="Passe bas v">
    5858            <DoubleSpinBox name="period, 0 for auto" value="0"/>
    59             <DoubleSpinBox name="cutoff frequency" value="5.00"/>
     59            <DoubleSpinBox name="cutoff frequency" value="5"/>
    6060          </GroupBox>
    6161        </Tab>
    6262        <Tab name="Mesures">
    63           <DataPlot1D name="bebop-us" period="100" enabled="0"/>
     63          <DataPlot1D name="bebop-us" period="100" enabled="1"/>
    6464          <DataPlot1D name="vz" period="100" enabled="0"/>
    6565        </Tab>
    … …  
    7171          <GroupBox name="bebop-imu"/>
    7272          <GroupBox name="post rotation">
    73             <DoubleSpinBox name="value" value="0"/>
     73            <DoubleSpinBox name="value" value="180"/>
    7474            <ComboBox name="axis" value="0"/>
    7575          </GroupBox>
    … …  
    8282        </Tab>
    8383        <Tab name="AHRS">
    84           <DataPlot1D name="roll" period="100" enabled="0"/>
     84          <DataPlot1D name="roll" period="100" enabled="1"/>
    8585          <DataPlot1D name="pitch" period="100" enabled="0"/>
    8686          <DataPlot1D name="yaw" period="100" enabled="0"/>
    87           <DataPlot1D name="w_x" period="100" enabled="0"/>
     87          <DataPlot1D name="w_x" period="100" enabled="1"/>
    8888          <DataPlot1D name="w_y" period="100" enabled="0"/>
    8989          <DataPlot1D name="w_z" period="100" enabled="0"/>
    … …  
    116116            <DoubleSpinBox name="debattement wz" value="90"/>
    117117            <DoubleSpinBox name="debattement dz" value="-0.5"/>
    118             <DoubleSpinBox name="trim" value="0.02"/>
     118            <DoubleSpinBox name="trim" value="0.01"/>
    119119            <Label name="trim roll"/>
    120120            <PushButton name="reset roll trim"/>
    … …  
    137137      </GridLayout>
    138138      <GroupBox name="takeoff/landing">
    139         <DoubleSpinBox name="desired takeoff altitude" value="1"/>
     139        <DoubleSpinBox name="desired takeoff altitude" value="0.5"/>
    140140        <DoubleSpinBox name="desired landing altitude" value="0"/>
    141141      </GroupBox>
    142142      <GroupBox name="alt cons">
    143143        <DoubleSpinBox name="period, 0 for auto:" value="0"/>
    144         <DoubleSpinBox name="velocity max (absolute):" value="1.00"/>
    145         <DoubleSpinBox name="acceleration (absolute):" value="0.80"/>
     144        <DoubleSpinBox name="velocity max (absolute):" value="1"/>
     145        <DoubleSpinBox name="acceleration (absolute):" value="1"/>
    146146      </GroupBox>
    147147    </Tab>
    … …  
    150150        <Tab name="Setup">
    151151          <GroupBox name="u_roll">
    152             <DoubleSpinBox name="sat ref:" value="0"/>
    153             <DoubleSpinBox name="kp:" value="0"/>
    154             <DoubleSpinBox name="sat dref:" value="0"/>
    155             <DoubleSpinBox name="kd:" value="0"/>
    156             <DoubleSpinBox name="sat u:" value="0"/>
     152            <DoubleSpinBox name="sat ref:" value="20"/>
     153            <DoubleSpinBox name="kp:" value="15.00"/>
     154            <DoubleSpinBox name="sat dref:" value="1000"/>
     155            <DoubleSpinBox name="kd:" value="0.04"/>
     156            <DoubleSpinBox name="sat u:" value="0.5"/>
    157157          </GroupBox>
    158158          <GroupBox name="u_pitch">
    159             <DoubleSpinBox name="sat ref:" value="0"/>
    160             <DoubleSpinBox name="kp:" value="0"/>
    161             <DoubleSpinBox name="sat dref:" value="0"/>
    162             <DoubleSpinBox name="kd:" value="0"/>
    163             <DoubleSpinBox name="sat u:" value="0"/>
     159            <DoubleSpinBox name="sat ref:" value="20"/>
     160            <DoubleSpinBox name="kp:" value="15"/>
     161            <DoubleSpinBox name="sat dref:" value="1000"/>
     162            <DoubleSpinBox name="kd:" value="0.05"/>
     163            <DoubleSpinBox name="sat u:" value="0.5"/>
    164164          </GroupBox>
    165165          <GroupBox name="u_yaw">
    166166            <DoubleSpinBox name="period, 0 for auto" value="0"/>
    167             <DoubleSpinBox name="kp:" value="0"/>
     167            <DoubleSpinBox name="kp:" value="0.6"/>
    168168            <DoubleSpinBox name="ki:" value="0"/>
    169169            <DoubleSpinBox name="sat i:" value="0"/>
    170             <DoubleSpinBox name="kd:" value="0"/>
    171             <DoubleSpinBox name="sat:" value="0"/>
     170            <DoubleSpinBox name="kd:" value="0.15"/>
     171            <DoubleSpinBox name="sat:" value="0.5"/>
    172172          </GroupBox>
    173173          <GroupBox name="u_z">
    174174            <DoubleSpinBox name="period, 0 for auto" value="0"/>
    175             <DoubleSpinBox name="kp:" value="0"/>
    176             <DoubleSpinBox name="ki:" value="0"/>
    177             <DoubleSpinBox name="sat i:" value="0"/>
    178             <DoubleSpinBox name="kd:" value="0"/>
    179             <DoubleSpinBox name="offset g:" value="0"/>
    180             <DoubleSpinBox name="sat:" value="0"/>
    181             <DoubleSpinBox name="offset step:" value="0"/>
     175            <DoubleSpinBox name="kp:" value="0.3"/>
     176            <DoubleSpinBox name="ki:" value="0.2"/>
     177            <DoubleSpinBox name="sat i:" value="0.4"/>
     178            <DoubleSpinBox name="kd:" value="0.15"/>
     179            <DoubleSpinBox name="offset g:" value="0.37"/>
     180            <DoubleSpinBox name="sat:" value="1"/>
     181            <DoubleSpinBox name="offset step:" value="0.0002"/>
    182182          </GroupBox>
    183183          <GroupBox name="u_x">
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