From f0a7de5c97e8083a5e63e7b51e6015db57a39c6a Mon Sep 17 00:00:00 2001 From: pixhawk Date: Fri, 3 Sep 2010 14:22:50 +0200 Subject: [PATCH 1/4] alpha parameters updated. Only IMU parameters. --- settings/parameters_alpha.txt | 34 ++++++++++++++++------------------ 1 file changed, 16 insertions(+), 18 deletions(-) diff --git a/settings/parameters_alpha.txt b/settings/parameters_alpha.txt index 4147ccf..3da7aca 100644 --- a/settings/parameters_alpha.txt +++ b/settings/parameters_alpha.txt @@ -1,17 +1,6 @@ # Onboard parameters for system MAV 042 # # MAV ID COMPONENT ID PARAM NAME VALUE (FLOAT) -42 1 POSFILTER 1 -42 1 PROTOCOLTIMEOUT¶ 2e+06 -42 1 SETPOINTDELAY 1e+06 -42 1 YAWTOLERANCE 0.1745 -42 100 SYS_ID 42 -42 120 DOWN_PITCH -0.025 -42 120 DOWN_ROLL -0.01 -42 120 DOWN_X 0 -42 120 DOWN_Y 0 -42 120 DOWN_YAW 3.14159 -42 120 DOWN_Z 0 42 200 ACC_NAV_OFFS_X 0 42 200 ACC_NAV_OFFS_Y 0 42 200 ACC_NAV_OFFS_Z -1000 @@ -23,10 +12,18 @@ 42 200 CAL_ACC_X 0 42 200 CAL_ACC_Y 0 42 200 CAL_ACC_Z 0 -42 200 CAL_GYRO_X 29760 -42 200 CAL_GYRO_Y 29860 -42 200 CAL_GYRO_Z 29877 -42 200 CAL_TEMP 40 +42 200 CAL_FIT_ACTIVE 0 +42 200 CAL_FIT_GYRO_X 31496.8 +42 200 CAL_FIT_GYRO_Y 29383.4 +42 200 CAL_FIT_GYRO_Z 30151.1 +42 200 CAL_GYRO_X 29826 +42 200 CAL_GYRO_Y 30325 +42 200 CAL_GYRO_Z 29583 +42 200 CAL_MAG_X 0 +42 200 CAL_MAG_Y 0 +42 200 CAL_MAG_Z 0 +42 200 CAL_PRES_DIFF 10000 +42 200 CAL_TEMP 32 42 200 CAM_EXP 1000 42 200 CAM_INTERVAL 36000 42 200 DEBUG_1 0 @@ -35,6 +32,7 @@ 42 200 DEBUG_4 0 42 200 DEBUG_5 0 42 200 DEBUG_6 0 +42 200 GPS_MODE 0 42 200 MIX_OFFSET 0 42 200 MIX_POSITION 0 42 200 MIX_POS_YAW 0 @@ -66,9 +64,9 @@ 42 200 PID_YAWSPE_AWU 1 42 200 PID_YAWSPE_LIM 50 42 200 POS_SP_ACCEPT 1 -42 200 POS_SP_X 1.70917 -42 200 POS_SP_Y 0.479173 -42 200 POS_SP_YAW 1.5708 +42 200 POS_SP_X 1.3 +42 200 POS_SP_Y 0.7 +42 200 POS_SP_YAW 0 42 200 POS_SP_Z -0.7 42 200 POS_TIMEOUT 2e+06 42 200 RC_NICK_CHAN 1 From f03aa3a70577b07a77b875a454ad3f1e7242a33b Mon Sep 17 00:00:00 2001 From: pixhawk Date: Fri, 3 Sep 2010 21:55:22 +0200 Subject: [PATCH 2/4] added temp bravo parameters --- settings/parameters_bravo-zwischendrin.txt | 111 +++++++++++++++++++++++++++++ 1 file changed, 111 insertions(+) create mode 100644 settings/parameters_bravo-zwischendrin.txt diff --git a/settings/parameters_bravo-zwischendrin.txt b/settings/parameters_bravo-zwischendrin.txt new file mode 100644 index 0000000..2d7de7a --- /dev/null +++ b/settings/parameters_bravo-zwischendrin.txt @@ -0,0 +1,111 @@ +# Onboard parameters for system MAV 042 +# +# MAV ID COMPONENT ID PARAM NAME VALUE (FLOAT) +42 1 POSFILTER 1 +42 1 PROTOCOLDELAY 40 +42 1 PROTOCOLTIMEOUT 2e+06 +42 1 SETPOINTDELAY 1e+06 +42 1 YAWTOLERANCE 0.1745 +42 100 SYS_ID 42 +42 120 DOWN_PITCH -0.03 +42 120 DOWN_ROLL 0.05 +42 120 DOWN_X 0 +42 120 DOWN_Y 0 +42 120 DOWN_YAW 3.14159 +42 120 DOWN_Z -0.088 +42 200 ACC_NAV_OFFS_X 0 +42 200 ACC_NAV_OFFS_Y 0 +42 200 ACC_NAV_OFFS_Z -1000 +42 200 ATT_KAL_IYAW 1 +42 200 ATT_KAL_KACC 0.0033 +42 200 ATT_OFFSET_X 0 +42 200 ATT_OFFSET_Y 0 +42 200 ATT_OFFSET_Z -0.08 +42 200 CAL_ACC_X 0 +42 200 CAL_ACC_Y 0 +42 200 CAL_ACC_Z 0 +42 200 CAL_FIT_ACTIVE 0 +42 200 CAL_FIT_GYRO_X 31500 +42 200 CAL_FIT_GYRO_Y 29370 +42 200 CAL_FIT_GYRO_Z 30230 +42 200 CAL_GYRO_X 29812 +42 200 CAL_GYRO_Y 29877 +42 200 CAL_GYRO_Z 29515 +42 200 CAL_MAG_X 0 +42 200 CAL_MAG_Y 0 +42 200 CAL_MAG_Z 0 +42 200 CAL_PRES_DIFF 10000 +42 200 CAM_EXP 1000 +42 200 CAM_INTERVAL 36000 +42 200 DEBUG_1 0 +42 200 DEBUG_2 0 +42 200 DEBUG_3 0 +42 200 DEBUG_4 0 +42 200 DEBUG_5 0 +42 200 DEBUG_6 0 +42 200 GPS_MODE 0 +42 200 MIX_OFFSET 0 +42 200 MIX_POSITION 0 +42 200 MIX_POS_YAW 0 +42 200 MIX_REMOTE 0 +42 200 MIX_Z_POSITION 0 +42 200 PID_ATT_AWU 0.3 +42 200 PID_ATT_D 30 +42 200 PID_ATT_I 60 +42 200 PID_ATT_LIM 100 +42 200 PID_ATT_P 90 +42 200 PID_POS_AWU 10 +42 200 PID_POS_D 1.8 +42 200 PID_POS_I 0.25 +42 200 PID_POS_LIM 0.15 +42 200 PID_POS_P 1.7 +42 200 PID_POS_Z_AWU 3 +42 200 PID_POS_Z_D 0.15 +42 200 PID_POS_Z_I 0.2 +42 200 PID_POS_Z_LIM 0.2 +42 200 PID_POS_Z_P 0.35 +42 200 PID_YAWPOS_AWU 1 +42 200 PID_YAWPOS_D 1 +42 200 PID_YAWPOS_I 0.1 +42 200 PID_YAWPOS_LIM 2 +42 200 PID_YAWPOS_P 5 +42 200 PID_YAWSPEED_D 0 +42 200 PID_YAWSPEED_I 5 +42 200 PID_YAWSPEED_P 15 +42 200 PID_YAWSPE_AWU 1 +42 200 PID_YAWSPE_LIM 20 +42 200 POS_SP_ACCEPT 1 +42 200 POS_SP_X 1.3 +42 200 POS_SP_Y 0.7 +42 200 POS_SP_YAW 1.5708 +42 200 POS_SP_Z -0.7 +42 200 POS_TIMEOUT 2e+06 +42 200 POS_YAW_TRACK 1 +42 200 RC_NICK_CHAN 1 +42 200 RC_ROLL_CHAN 2 +42 200 RC_SAFETY_CHAN 5 +42 200 RC_THRUST_CHAN 3 +42 200 RC_TRIM_CHAN 0 +42 200 RC_TUNE_CHAN1 7 +42 200 RC_TUNE_CHAN2 5 +42 200 RC_TUNE_CHAN3 6 +42 200 RC_TUNE_CHAN4 8 +42 200 RC_YAW_CHAN 4 +42 200 SEND_DEBUGCHAN 0 +42 200 SLOT_ATTITUDE 0 +42 200 SLOT_CONTROL 0 +42 200 SLOT_RAW_IMU 0 +42 200 SLOT_RC 0 +42 200 SYS_COMP_ID 200 +42 200 SYS_ID 42 +42 200 SYS_IMU_RESET 0 +42 200 SYS_SW_VER 2001 +42 200 SYS_TYPE 2 +42 200 UART_0_BAUD 115200 +42 200 UART_1_BAUD 57600 +42 200 VEL_DAMP 0.95 +42 200 VEL_OFFSET_X 0 +42 200 VEL_OFFSET_Y 0 +42 200 VEL_OFFSET_Z 0 +42 200 VIS_OUTL_TRESH 0.2 +42 200 VIS_YAWCORR 0 From 73ff2bdcdb04fe8fd7a41331a77d5f7fc9c59e16 Mon Sep 17 00:00:00 2001 From: pixhawk Date: Sat, 11 Sep 2010 11:06:51 +0200 Subject: [PATCH 3/4] Added vehicle parameters - will be moved / cleaned up --- settings/parameters_bravo-zwischendrin.txt | 111 ----------------------------- settings/parameters_bravo_final.txt | 111 +++++++++++++++++++++++++++++ 2 files changed, 111 insertions(+), 111 deletions(-) delete mode 100644 settings/parameters_bravo-zwischendrin.txt create mode 100644 settings/parameters_bravo_final.txt diff --git a/settings/parameters_bravo-zwischendrin.txt b/settings/parameters_bravo-zwischendrin.txt deleted file mode 100644 index 2d7de7a..0000000 --- a/settings/parameters_bravo-zwischendrin.txt +++ /dev/null @@ -1,111 +0,0 @@ -# Onboard parameters for system MAV 042 -# -# MAV ID COMPONENT ID PARAM NAME VALUE (FLOAT) -42 1 POSFILTER 1 -42 1 PROTOCOLDELAY 40 -42 1 PROTOCOLTIMEOUT 2e+06 -42 1 SETPOINTDELAY 1e+06 -42 1 YAWTOLERANCE 0.1745 -42 100 SYS_ID 42 -42 120 DOWN_PITCH -0.03 -42 120 DOWN_ROLL 0.05 -42 120 DOWN_X 0 -42 120 DOWN_Y 0 -42 120 DOWN_YAW 3.14159 -42 120 DOWN_Z -0.088 -42 200 ACC_NAV_OFFS_X 0 -42 200 ACC_NAV_OFFS_Y 0 -42 200 ACC_NAV_OFFS_Z -1000 -42 200 ATT_KAL_IYAW 1 -42 200 ATT_KAL_KACC 0.0033 -42 200 ATT_OFFSET_X 0 -42 200 ATT_OFFSET_Y 0 -42 200 ATT_OFFSET_Z -0.08 -42 200 CAL_ACC_X 0 -42 200 CAL_ACC_Y 0 -42 200 CAL_ACC_Z 0 -42 200 CAL_FIT_ACTIVE 0 -42 200 CAL_FIT_GYRO_X 31500 -42 200 CAL_FIT_GYRO_Y 29370 -42 200 CAL_FIT_GYRO_Z 30230 -42 200 CAL_GYRO_X 29812 -42 200 CAL_GYRO_Y 29877 -42 200 CAL_GYRO_Z 29515 -42 200 CAL_MAG_X 0 -42 200 CAL_MAG_Y 0 -42 200 CAL_MAG_Z 0 -42 200 CAL_PRES_DIFF 10000 -42 200 CAM_EXP 1000 -42 200 CAM_INTERVAL 36000 -42 200 DEBUG_1 0 -42 200 DEBUG_2 0 -42 200 DEBUG_3 0 -42 200 DEBUG_4 0 -42 200 DEBUG_5 0 -42 200 DEBUG_6 0 -42 200 GPS_MODE 0 -42 200 MIX_OFFSET 0 -42 200 MIX_POSITION 0 -42 200 MIX_POS_YAW 0 -42 200 MIX_REMOTE 0 -42 200 MIX_Z_POSITION 0 -42 200 PID_ATT_AWU 0.3 -42 200 PID_ATT_D 30 -42 200 PID_ATT_I 60 -42 200 PID_ATT_LIM 100 -42 200 PID_ATT_P 90 -42 200 PID_POS_AWU 10 -42 200 PID_POS_D 1.8 -42 200 PID_POS_I 0.25 -42 200 PID_POS_LIM 0.15 -42 200 PID_POS_P 1.7 -42 200 PID_POS_Z_AWU 3 -42 200 PID_POS_Z_D 0.15 -42 200 PID_POS_Z_I 0.2 -42 200 PID_POS_Z_LIM 0.2 -42 200 PID_POS_Z_P 0.35 -42 200 PID_YAWPOS_AWU 1 -42 200 PID_YAWPOS_D 1 -42 200 PID_YAWPOS_I 0.1 -42 200 PID_YAWPOS_LIM 2 -42 200 PID_YAWPOS_P 5 -42 200 PID_YAWSPEED_D 0 -42 200 PID_YAWSPEED_I 5 -42 200 PID_YAWSPEED_P 15 -42 200 PID_YAWSPE_AWU 1 -42 200 PID_YAWSPE_LIM 20 -42 200 POS_SP_ACCEPT 1 -42 200 POS_SP_X 1.3 -42 200 POS_SP_Y 0.7 -42 200 POS_SP_YAW 1.5708 -42 200 POS_SP_Z -0.7 -42 200 POS_TIMEOUT 2e+06 -42 200 POS_YAW_TRACK 1 -42 200 RC_NICK_CHAN 1 -42 200 RC_ROLL_CHAN 2 -42 200 RC_SAFETY_CHAN 5 -42 200 RC_THRUST_CHAN 3 -42 200 RC_TRIM_CHAN 0 -42 200 RC_TUNE_CHAN1 7 -42 200 RC_TUNE_CHAN2 5 -42 200 RC_TUNE_CHAN3 6 -42 200 RC_TUNE_CHAN4 8 -42 200 RC_YAW_CHAN 4 -42 200 SEND_DEBUGCHAN 0 -42 200 SLOT_ATTITUDE 0 -42 200 SLOT_CONTROL 0 -42 200 SLOT_RAW_IMU 0 -42 200 SLOT_RC 0 -42 200 SYS_COMP_ID 200 -42 200 SYS_ID 42 -42 200 SYS_IMU_RESET 0 -42 200 SYS_SW_VER 2001 -42 200 SYS_TYPE 2 -42 200 UART_0_BAUD 115200 -42 200 UART_1_BAUD 57600 -42 200 VEL_DAMP 0.95 -42 200 VEL_OFFSET_X 0 -42 200 VEL_OFFSET_Y 0 -42 200 VEL_OFFSET_Z 0 -42 200 VIS_OUTL_TRESH 0.2 -42 200 VIS_YAWCORR 0 diff --git a/settings/parameters_bravo_final.txt b/settings/parameters_bravo_final.txt new file mode 100644 index 0000000..2d7de7a --- /dev/null +++ b/settings/parameters_bravo_final.txt @@ -0,0 +1,111 @@ +# Onboard parameters for system MAV 042 +# +# MAV ID COMPONENT ID PARAM NAME VALUE (FLOAT) +42 1 POSFILTER 1 +42 1 PROTOCOLDELAY 40 +42 1 PROTOCOLTIMEOUT 2e+06 +42 1 SETPOINTDELAY 1e+06 +42 1 YAWTOLERANCE 0.1745 +42 100 SYS_ID 42 +42 120 DOWN_PITCH -0.03 +42 120 DOWN_ROLL 0.05 +42 120 DOWN_X 0 +42 120 DOWN_Y 0 +42 120 DOWN_YAW 3.14159 +42 120 DOWN_Z -0.088 +42 200 ACC_NAV_OFFS_X 0 +42 200 ACC_NAV_OFFS_Y 0 +42 200 ACC_NAV_OFFS_Z -1000 +42 200 ATT_KAL_IYAW 1 +42 200 ATT_KAL_KACC 0.0033 +42 200 ATT_OFFSET_X 0 +42 200 ATT_OFFSET_Y 0 +42 200 ATT_OFFSET_Z -0.08 +42 200 CAL_ACC_X 0 +42 200 CAL_ACC_Y 0 +42 200 CAL_ACC_Z 0 +42 200 CAL_FIT_ACTIVE 0 +42 200 CAL_FIT_GYRO_X 31500 +42 200 CAL_FIT_GYRO_Y 29370 +42 200 CAL_FIT_GYRO_Z 30230 +42 200 CAL_GYRO_X 29812 +42 200 CAL_GYRO_Y 29877 +42 200 CAL_GYRO_Z 29515 +42 200 CAL_MAG_X 0 +42 200 CAL_MAG_Y 0 +42 200 CAL_MAG_Z 0 +42 200 CAL_PRES_DIFF 10000 +42 200 CAM_EXP 1000 +42 200 CAM_INTERVAL 36000 +42 200 DEBUG_1 0 +42 200 DEBUG_2 0 +42 200 DEBUG_3 0 +42 200 DEBUG_4 0 +42 200 DEBUG_5 0 +42 200 DEBUG_6 0 +42 200 GPS_MODE 0 +42 200 MIX_OFFSET 0 +42 200 MIX_POSITION 0 +42 200 MIX_POS_YAW 0 +42 200 MIX_REMOTE 0 +42 200 MIX_Z_POSITION 0 +42 200 PID_ATT_AWU 0.3 +42 200 PID_ATT_D 30 +42 200 PID_ATT_I 60 +42 200 PID_ATT_LIM 100 +42 200 PID_ATT_P 90 +42 200 PID_POS_AWU 10 +42 200 PID_POS_D 1.8 +42 200 PID_POS_I 0.25 +42 200 PID_POS_LIM 0.15 +42 200 PID_POS_P 1.7 +42 200 PID_POS_Z_AWU 3 +42 200 PID_POS_Z_D 0.15 +42 200 PID_POS_Z_I 0.2 +42 200 PID_POS_Z_LIM 0.2 +42 200 PID_POS_Z_P 0.35 +42 200 PID_YAWPOS_AWU 1 +42 200 PID_YAWPOS_D 1 +42 200 PID_YAWPOS_I 0.1 +42 200 PID_YAWPOS_LIM 2 +42 200 PID_YAWPOS_P 5 +42 200 PID_YAWSPEED_D 0 +42 200 PID_YAWSPEED_I 5 +42 200 PID_YAWSPEED_P 15 +42 200 PID_YAWSPE_AWU 1 +42 200 PID_YAWSPE_LIM 20 +42 200 POS_SP_ACCEPT 1 +42 200 POS_SP_X 1.3 +42 200 POS_SP_Y 0.7 +42 200 POS_SP_YAW 1.5708 +42 200 POS_SP_Z -0.7 +42 200 POS_TIMEOUT 2e+06 +42 200 POS_YAW_TRACK 1 +42 200 RC_NICK_CHAN 1 +42 200 RC_ROLL_CHAN 2 +42 200 RC_SAFETY_CHAN 5 +42 200 RC_THRUST_CHAN 3 +42 200 RC_TRIM_CHAN 0 +42 200 RC_TUNE_CHAN1 7 +42 200 RC_TUNE_CHAN2 5 +42 200 RC_TUNE_CHAN3 6 +42 200 RC_TUNE_CHAN4 8 +42 200 RC_YAW_CHAN 4 +42 200 SEND_DEBUGCHAN 0 +42 200 SLOT_ATTITUDE 0 +42 200 SLOT_CONTROL 0 +42 200 SLOT_RAW_IMU 0 +42 200 SLOT_RC 0 +42 200 SYS_COMP_ID 200 +42 200 SYS_ID 42 +42 200 SYS_IMU_RESET 0 +42 200 SYS_SW_VER 2001 +42 200 SYS_TYPE 2 +42 200 UART_0_BAUD 115200 +42 200 UART_1_BAUD 57600 +42 200 VEL_DAMP 0.95 +42 200 VEL_OFFSET_X 0 +42 200 VEL_OFFSET_Y 0 +42 200 VEL_OFFSET_Z 0 +42 200 VIS_OUTL_TRESH 0.2 +42 200 VIS_YAWCORR 0 From fc1eed8e494fba2e94f69aaa7c72fe204eaf3a81 Mon Sep 17 00:00:00 2001 From: pixhawk Date: Tue, 14 Sep 2010 08:44:28 +0200 Subject: [PATCH 4/4] Re-added debug_and_release --- qgroundcontrol.pro | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro index 42a8aaf..70ed65d 100644 --- a/qgroundcontrol.pro +++ b/qgroundcontrol.pro @@ -18,7 +18,7 @@ TARGET = qgroundcontrol BASEDIR = . BUILDDIR = build LANGUAGE = C++ -CONFIG += release #debug_and_release \ +CONFIG += debug_and_release #console OBJECTS_DIR = $$BUILDDIR/obj MOC_DIR = $$BUILDDIR/moc