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‎ardupilot_methodic_configurator/configuration_steps_ArduCopter.json‎

Lines changed: 90 additions & 14 deletions
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@@ -549,20 +549,6 @@
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"auto_changed_by": "",
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"old_filenames": ["15_pid_adjustment.param"]
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},
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"19_notch_filter_results.param": {
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"why": "The notch filter(s) configuration depends on real-flight data.",
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"why_now": "real-flight data is only available after the first flight",
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"blog_text": "Configure the notch filter(s) based on the data collected from the first flight",
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"blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#81-notch-filter-calibration",
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"wiki_text": "Managing Gyro Noise with the Dynamic Harmonic Notch Filters",
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"wiki_url": "https://ardupilot.org/copter/docs/common-imu-notch-filtering.html",
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"external_tool_text": "Ardupilot Filter Review tool",
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"external_tool_url": "https://firmware.ardupilot.org/Tools/WebTools/FilterReview/",
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"mandatory_text": "100% mandatory (0% optional)",
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"auto_changed_by": "",
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"autoimport_nondefault_regexp": ["FFT_.*", "INS_GYRO_FILTER"],
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"old_filenames": ["18_notch_filter_results.param"]
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},
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"20_throttle_controller.param": {
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"why": "The throttle controller is crucial for maintaining altitude and controlling the vehicle's vertical movement.",
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"why_now": "After the first flight because it depends on the MOT_THST_HOVER parameter, before the second flight so that it can safely use the altitude controller",
@@ -581,6 +567,20 @@
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},
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"old_filenames": ["19_throttle_controller.param"]
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},
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"19_notch_filter_results.param": {
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"why": "The notch filter(s) configuration depends on real-flight data.",
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"why_now": "real-flight data is only available after the first flight",
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"blog_text": "Configure the notch filter(s) based on the data collected from the first flight",
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"blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#81-notch-filter-calibration",
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"wiki_text": "Managing Gyro Noise with the Dynamic Harmonic Notch Filters",
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"wiki_url": "https://ardupilot.org/copter/docs/common-imu-notch-filtering.html",
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"external_tool_text": "Ardupilot Filter Review tool",
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"external_tool_url": "https://firmware.ardupilot.org/Tools/WebTools/FilterReview/",
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"mandatory_text": "100% mandatory (0% optional)",
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"auto_changed_by": "",
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"autoimport_nondefault_regexp": ["FFT_.*", "INS_GYRO_FILTER"],
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"old_filenames": ["18_notch_filter_results.param"]
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},
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"21_ekf_config.param": {
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"why": "Sometimes the weights of the barometer vs. GNSS altitude need to be adjusted.",
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"why_now": "Before the second flight so that the EKF can be used to estimate the vehicle's position",
@@ -613,6 +613,20 @@
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},
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"old_filenames": []
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},
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"27_pid_notch_filter_results.param": {
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"why": "The PID notch filter(s) configuration depends on real-flight data collected with the logging enabled in the previous step",
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"why_now": "Real-flight data with PID notch filter batch logging is only available after the dedicated logging flight",
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"blog_text": "Configure the PID notch filter(s) based on the data collected from the logging flight",
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"blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#81-notch-filter-calibration",
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"wiki_text": "Managing Gyro Noise with the Dynamic Harmonic Notch Filters",
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"wiki_url": "https://ardupilot.org/copter/docs/common-imu-notch-filtering.html",
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"external_tool_text": "Ardupilot Filter Review tool",
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"external_tool_url": "https://firmware.ardupilot.org/Tools/WebTools/FilterReview/",
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"mandatory_text": "100% mandatory (0% optional)",
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"auto_changed_by": "",
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"autoimport_nondefault_regexp": ["FILT.+", "ATC_RAT_.+_N[ET]F", "PSC_ACCZ_N[ET]F"],
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"old_filenames": []
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},
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"22_quick_tune_setup.param": {
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"why": "The VTOL-quicktune lua script can safely estimate good PID starting values for the vehicle.",
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"why_now": "Before the second flight so that the vehicle can be safely tuned.",
@@ -968,6 +982,20 @@
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},
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"old_filenames": []
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},
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"46_pid_d_ff.param": {
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"why": "The D feed-forward term improves aggressive rate tracking and gives the drone a 'locked-in' feel with minimal control latency",
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"why_now": "After all autotune axes are complete and PID values are finalized, since D_FF is calculated from the final tuned PID response",
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"blog_text": "Calculate angle rate derivative feed-forward gains (ATC_RAT_*_D_FF and PSC_ACCZ_D_FF) to improve aggressive maneuver tracking",
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"blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#97-angle-rate-derivative-feed-forward-calculation",
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"wiki_text": "",
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"wiki_url": "",
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"external_tool_text": "ArduPilot PID Review Tool",
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"external_tool_url": "https://firmware.ardupilot.org/Tools/WebTools/PIDReview/",
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"mandatory_text": "0% mandatory (100% optional)",
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"auto_changed_by": "",
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"autoimport_nondefault_regexp": ["ATC_RAT_.+_D_FF", "PSC_ACCZ_D_FF"],
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"old_filenames": []
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},
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"40_windspeed_estimation.param": {
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"why": "For accurate navigation and stabilization at high speeds and/or in windy conditions",
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"why_now": "Because it can only be done after PID tuning is complete",
@@ -1016,6 +1044,54 @@
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},
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"old_filenames": []
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},
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"50_system_id_input_roll.param": {
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"why": "System identification is required to create a mathematical model of the vehicle",
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"why_now": "Because the vehicle should be fully tuned (no more PID changes) before a model gets created (that depends on said PID values)",
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"blog_text": "Configure parameters for the roll axis input system identification to create a mathematical model of the vehicle",
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"blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#11-system-identification-for-analytical-pid-optimization-optional",
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"wiki_text": "Matlab and Simulink IAV scripts for system identification",
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"wiki_url": "https://ardupilot.org/copter/docs/systemid-model-development.html#identification-of-a-multicopter",
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"external_tool_text": "ArduCopter Simulink Model",
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"external_tool_url": "https://github.com/ArduPilot/ardupilot/blob/master/Tools/simulink/arducopter/README.md",
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"mandatory_text": "20% mandatory (80% optional)",
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"auto_changed_by": "",
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"forced_parameters": {
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"SID_AXIS": { "New Value": 1, "Change Reason": "Inject chip on the input roll signal" }
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},
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"old_filenames": []
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},
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"51_system_id_input_pitch.param": {
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"why": "System identification is required to create a mathematical model of the vehicle",
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"why_now": "Because the vehicle should be fully tuned (no more PID changes) before a model gets created (that depends on said PID values)",
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"blog_text": "Configure parameters for the pitch axis input system identification to create a mathematical model of the vehicle",
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"blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#1112-pitch-rate-mathematical-model",
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"wiki_text": "Matlab and Simulink IAV scripts for system identification",
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"wiki_url": "https://ardupilot.org/copter/docs/systemid-model-development.html#identification-of-a-multicopter",
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"external_tool_text": "ArduCopter Simulink Model",
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"external_tool_url": "https://github.com/ArduPilot/ardupilot/blob/master/Tools/simulink/arducopter/README.md",
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"mandatory_text": "20% mandatory (80% optional)",
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"auto_changed_by": "",
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"forced_parameters": {
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"SID_AXIS": { "New Value": 2, "Change Reason": "Inject chip on the input pitch signal" }
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},
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"old_filenames": []
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},
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"52_system_id_input_yaw.param": {
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"why": "System identification is required to create a mathematical model of the vehicle",
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"why_now": "Because the vehicle should be fully tuned (no more PID changes) before a model gets created (that depends on said PID values)",
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"blog_text": "Configure parameters for the yaw axis input system identification to create a mathematical model of the vehicle",
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"blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#1113-yaw-rate-mathematical-model",
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"wiki_text": "Matlab and Simulink IAV scripts for system identification",
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"wiki_url": "https://ardupilot.org/copter/docs/systemid-model-development.html#identification-of-a-multicopter",
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"external_tool_text": "ArduCopter Simulink Model",
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"external_tool_url": "https://github.com/ArduPilot/ardupilot/blob/master/Tools/simulink/arducopter/README.md",
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"mandatory_text": "20% mandatory (80% optional)",
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"auto_changed_by": "",
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"forced_parameters": {
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"SID_AXIS": { "New Value": 3, "Change Reason": "Inject chip on the input yaw signal" }
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},
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"old_filenames": []
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},
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"42_system_id_roll.param": {
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"why": "System identification is required to create a mathematical model of the vehicle",
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"why_now": "Because the vehicle should be fully tuned (no more PID changes) before a model gets created (that depends on said PID values)",

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