diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/05_remote_controller.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/05_remote_controller.param index e237dbb97..3ecb2f154 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/05_remote_controller.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/05_remote_controller.param @@ -3,8 +3,8 @@ FS_THR_VALUE,970 # A bit lower to be on the safe side RC_OPTIONS,32 RC_PROTOCOLS,8 # Selected in the component editor RC10_OPTION,0 -RC6_OPTION,4 # Return home automatically if needed -RC7_OPTION,300 # For emergencies, be able to stop all motors at once -RC8_OPTION,31 +RC6_OPTION,17 # To control PID autotune, after quicktune is done +RC7_OPTION,300 # To trigger PID quicktune +RC8_OPTION,31 # For emergencies, be able to stop all motors at once RC9_OPTION,0 RSSI_TYPE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/16_pid_adjustment.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/16_pid_adjustment.param index 0ac20040b..b9907c289 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/16_pid_adjustment.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/16_pid_adjustment.param @@ -1,13 +1,13 @@ ATC_ANG_PIT_P,4.5 ATC_ANG_RLL_P,4.5 ATC_ANG_YAW_P,4.5 -ATC_INPUT_TC,0.15 -ATC_RAT_PIT_D,0.0036 # = 1* (0.0036 default) -ATC_RAT_PIT_I,0.121 # = 0.896 * (0.135 default) -ATC_RAT_PIT_P,0.121 # = 0.896 * (0.135 default) -ATC_RAT_RLL_D,0.0036 # = 1 * (0.0036 default) -ATC_RAT_RLL_I,0.121 # = 0.896 * (0.135 default) -ATC_RAT_RLL_P,0.121 # = 0.896 * (0.135 default) +ATC_INPUT_TC,0.2 # It's a small (too fast) copter +ATC_RAT_PIT_D,0.00432 # = 1.2* (0.0036 default) +ATC_RAT_PIT_I,0.162 # = 1.2 * (0.135 default) +ATC_RAT_PIT_P,0.162 # = 1.2 * (0.135 default) +ATC_RAT_RLL_D,0.00432 # = 1.2* (0.0036 default) +ATC_RAT_RLL_I,0.162 # = 1.2 * (0.135 default) +ATC_RAT_RLL_P,0.162 # = 1.2 * (0.135 default) ATC_RAT_YAW_D,0 # = 1 * (0 default) -ATC_RAT_YAW_I,0.018 # = 1 * (0.018 default) -ATC_RAT_YAW_P,0.18 # = 1 * (0.18 default) +ATC_RAT_YAW_I,0.026 # = 1.2 * (0.018 default) +ATC_RAT_YAW_P,0.26 # = 1.2 * (0.18 default) diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/46_a_system_id_roll.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/46_a_system_id_roll.param new file mode 100644 index 000000000..c6ca77cf7 --- /dev/null +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/46_a_system_id_roll.param @@ -0,0 +1,23 @@ +ANGLE_MAX,3000 # limit the angle to limit the speed at SID-chirp low-frequencies +ARMING_CHECK,30174 # disable Parameter check because we need to set ATC_RAT_RLL_I out-of-range (was 1) +ATC_ANG_PIT_P,24.629694 +ATC_ANG_RLL_P,18.379057 +ATC_ANG_YAW_P,7.636879 +ATC_RAT_PIT_I,0.180513 +ATC_RAT_RLL_I,0.155054 +ATC_RAT_YAW_I,0.099616 +ATC_RATE_FF_ENAB,1 # normal operation +FLTMODE6,25 # Activate sysid instead of loiter +LOG_BITMASK,145119 # attitude sample rate at 400Hz rate +LOG_DISARMED,0 # was only needed for wind speed estimation +LOG_REPLAY,0 # was only needed for wind speed estimation +SID_AXIS,1 # Inject chip on the input roll signal +SID_F_START_HZ,0.05 +SID_F_STOP_HZ,11 +SID_MAGNITUDE,5 +SID_T_FADE_IN,5 +SID_T_FADE_OUT,1 +SID_T_REC,130 +TUNE,0 # System identification magnitude +TUNE_MAX,0.3 # System identification max magnitude +TUNE_MIN,0.05 # System identification min magnitude diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/46_b_system_id_pitch.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/46_b_system_id_pitch.param new file mode 100644 index 000000000..6342d7d0c --- /dev/null +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/46_b_system_id_pitch.param @@ -0,0 +1,23 @@ +ANGLE_MAX,3000 # limit the angle to limit the speed at SID-chirp low-frequencies +ARMING_CHECK,30174 # disable Parameter check because we need to set ATC_RAT_RLL_I out-of-range (was 1) +ATC_ANG_PIT_P,24.629694 +ATC_ANG_RLL_P,18.379057 +ATC_ANG_YAW_P,7.636879 +ATC_RAT_PIT_I,0.180513 +ATC_RAT_RLL_I,0.155054 +ATC_RAT_YAW_I,0.099616 +ATC_RATE_FF_ENAB,1 # normal operation +FLTMODE6,25 # Activate sysid instead of loiter +LOG_BITMASK,145119 # attitude sample rate at 400Hz rate +LOG_DISARMED,0 # was only needed for wind speed estimation +LOG_REPLAY,0 # was only needed for wind speed estimation +SID_AXIS,2 # Inject chip on the input pitch signal +SID_F_START_HZ,0.05 +SID_F_STOP_HZ,11 +SID_MAGNITUDE,5 +SID_T_FADE_IN,5 +SID_T_FADE_OUT,1 +SID_T_REC,130 +TUNE,0 # System identification magnitude +TUNE_MAX,0.3 # System identification max magnitude +TUNE_MIN,0.05 # System identification min magnitude diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/46_c_system_id_yaw.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/46_c_system_id_yaw.param new file mode 100644 index 000000000..4a27a823d --- /dev/null +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/46_c_system_id_yaw.param @@ -0,0 +1,23 @@ +ANGLE_MAX,3000 # limit the angle to limit the speed at SID-chirp low-frequencies +ARMING_CHECK,30174 # disable Parameter check because we need to set ATC_RAT_RLL_I out-of-range (was 1) +ATC_ANG_PIT_P,24.629694 +ATC_ANG_RLL_P,18.379057 +ATC_ANG_YAW_P,7.636879 +ATC_RAT_PIT_I,0.180513 +ATC_RAT_RLL_I,0.155054 +ATC_RAT_YAW_I,0.099616 +ATC_RATE_FF_ENAB,1 # normal operation +FLTMODE6,25 # Activate sysid instead of loiter +LOG_BITMASK,145119 # attitude sample rate at 400Hz rate +LOG_DISARMED,0 # was only needed for wind speed estimation +LOG_REPLAY,0 # was only needed for wind speed estimation +SID_AXIS,3 # Inject chip on the input yaw signal +SID_F_START_HZ,0.05 +SID_F_STOP_HZ,11 +SID_MAGNITUDE,10 +SID_T_FADE_IN,5 +SID_T_FADE_OUT,1 +SID_T_REC,130 +TUNE,0 # System identification magnitude +TUNE_MAX,0.3 # System identification max magnitude +TUNE_MIN,0.05 # System identification min magnitude diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/tuning_report.csv b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/tuning_report.csv index bedac1b71..39f6ccfb5 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/tuning_report.csv +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/tuning_report.csv @@ -14,14 +14,14 @@ ATC_RAT_RLL_FLTT,20.0,21.0,,,,,,, ATC_RAT_YAW_FLTD,20.0,0.0,,21.0,,,,, ATC_RAT_YAW_FLTE,2.5,2.0,,,,,2.090602,, ATC_RAT_YAW_FLTT,20.0,21.0,,,,,,, -ATC_RAT_PIT_D,0.0036,,0.0036,0.003372,,0.006718,,, -ATC_RAT_PIT_I,0.135,,0.121,0.229527,,0.180513,,, -ATC_RAT_PIT_P,0.135,,0.121,0.229527,,0.180513,,, -ATC_RAT_RLL_D,0.0036,,0.0036,0.003207,0.00528,,,, -ATC_RAT_RLL_I,0.135,,0.121,0.184505,0.155054,,,, -ATC_RAT_RLL_P,0.135,,0.121,0.184505,0.155054,,,, +ATC_RAT_PIT_D,0.0036,,0.00432,0.003372,,0.006718,,, +ATC_RAT_PIT_I,0.135,,0.162,0.229527,,0.180513,,, +ATC_RAT_PIT_P,0.135,,0.162,0.229527,,0.180513,,, +ATC_RAT_RLL_D,0.0036,,0.00432,0.003207,0.00528,,,, +ATC_RAT_RLL_I,0.135,,0.162,0.184505,0.155054,,,, +ATC_RAT_RLL_P,0.135,,0.162,0.184505,0.155054,,,, ATC_RAT_YAW_D,0.0,,0.0,0.01,,,,0.01, -ATC_RAT_YAW_I,0.018,,0.018,0.05,,,0.099616,0.099616, -ATC_RAT_YAW_P,0.18,,0.18,0.5,,,0.99616,0.99616, +ATC_RAT_YAW_I,0.018,,0.026,0.05,,,0.099616,0.099616, +ATC_RAT_YAW_P,0.18,,0.26,0.5,,,0.99616,0.99616, INS_ACCEL_FILTER,20.0,10.0,,,,,,, INS_GYRO_FILTER,20.0,42.0,,,,,,,