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Merge branch 'rm_settings' into dataandSettings

QGC4.4
Jessica 13 years ago
parent
3154141e98 a60c6108a4
commit
f6be1b7b12
15 changed files with 0 additions and 659 deletions
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  1. 9
      settings/RadioCalibration.xml
  2. 99
      settings/parameters_alpha.txt
  3. 94
      settings/parameters_bravo.txt
  4. 111
      settings/parameters_bravo_final.txt
  5. 151
      settings/parameters_charlie.txt
  6. 86
      settings/parameters_stereo_cam.txt
  7. 16
      settings/plots.m
  8. 9
      settings/waypoints-final-pole-racing.txt
  9. 7
      settings/waypoints_8_L1.txt
  10. 21
      settings/waypoints_8_circle.txt
  11. 10
      settings/waypoints_8_start_land.txt
  12. 9
      settings/waypoints_A0_circlev13_redesign.txt
  13. 17
      settings/waypoints_braunschweig1.txt
  14. 17
      settings/waypoints_braunschweig3.txt
  15. 3
      settings/waypoints_demo.txt

9
settings/RadioCalibration.xml
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<!-- Values are ordered low center high -->
<channels>
<threeSetpoint name="Aileron" number="1">1000.0, 1500.0, 2000.0</threeSetpoint>
<threeSetpoint name="Elevator" number="2">1000.0, 1500.0, 2000.0</threeSetpoint>
<threeSetpoint name="Rudder" number="4">1000.0, 1500.0, 2000.0</threeSetpoint>
<twoSetpoint name="Gyro" number="5">2000.0, 1000.0</twoSetpoint>
<fiveSetpoint name="Pitch" number="6">1000.0, 1250.0, 1500.0, 1750.0, 2000.0</fiveSetpoint>
<fiveSetpoint name="Throttle" number="3">1000.0, 1250.0, 1500.0, 1750.0, 2000.0</fiveSetpoint>
</channels>

99
settings/parameters_alpha.txt
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# Onboard parameters for system MAV 042
#
# MAV ID COMPONENT ID PARAM NAME VALUE (FLOAT)
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 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
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 2
42 200 PID_POS_I 0.3
42 200 PID_POS_LIM 0.2
42 200 PID_POS_P 1.8
42 200 PID_POS_Z_AWU 3
42 200 PID_POS_Z_D 0.2
42 200 PID_POS_Z_I 0.3
42 200 PID_POS_Z_LIM 0.3
42 200 PID_POS_Z_P 0.5
42 200 PID_YAWPOS_AWU 1
42 200 PID_YAWPOS_D 1
42 200 PID_YAWPOS_I 0.1
42 200 PID_YAWPOS_LIM 3
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 50
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 0
42 200 POS_SP_Z -0.7
42 200 POS_TIMEOUT 2e+06
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 2000
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

94
settings/parameters_bravo.txt
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# Onboard parameters for system MAV 042
#
# MAV ID COMPONENT ID PARAM NAME VALUE (FLOAT)
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 1
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 29809
42 200 CAL_GYRO_Y 29959
42 200 CAL_GYRO_Z 29455
42 200 CAL_TEMP 51.5
42 200 CAM_EXP 1000
42 200 CAM_INTERVAL 36000
42 200 DEBUG_1 0
42 200 DEBUG_2 1
42 200 DEBUG_3 0
42 200 DEBUG_4 0
42 200 DEBUG_5 1
42 200 DEBUG_6 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 15
42 200 PID_ATT_I 20
42 200 PID_ATT_LIM 30
42 200 PID_ATT_P 40
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 1.66
42 200 POS_SP_Y 0.55
42 200 POS_SP_YAW 1.5708
42 200 POS_SP_Z -0.7
42 200 POS_TIMEOUT 2e+06
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 1
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

111
settings/parameters_bravo_final.txt
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# 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

151
settings/parameters_charlie.txt
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# 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 0.02
42 120 DOWN_ROLL 0.18
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
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 1
42 200 CAL_FIT_GYRO_X 31495
42 200 CAL_FIT_GYRO_Y 29400
42 200 CAL_FIT_GYRO_Z 30180
42 200 CAL_GYRO_X 29809
42 200 CAL_GYRO_Y 29959
42 200 CAL_GYRO_Z 29455
42 200 CAL_TEMP 51.5
42 200 CAM_EXP 1000
42 200 CAM_INTERVAL 36000
42 200 DEBUG_1 0
42 200 DEBUG_2 1
42 200 DEBUG_3 0
42 200 DEBUG_4 0
42 200 DEBUG_5 1
42 200 DEBUG_6 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 15
42 200 PID_ATT_I 20
42 200 PID_ATT_LIM 30
42 200 PID_ATT_P 40
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 1.66
42 200 POS_SP_Y 0.55
42 200 POS_SP_YAW 1.5708
42 200 POS_SP_Z -0.7
42 200 POS_TIMEOUT 2e+06
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 1
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
42 200 adaThresBlockS 15
42 200 adaThresMethod 0
42 200 adaThresParam1 8
42 200 artkBorderWidt 0.25
42 200 artkPatternWid 200
42 200 artkThreshold 175
42 200 bDContours 1
42 200 bDRectangles 1
42 200 bEqualizeHist 0
42 200 bRectify 1
42 200 bRefineCorners 1
42 200 contApproxMeth 2
42 200 contDeviThresh 50
42 200 contImageSize 32
42 200 contImageType 2
42 200 contOrFactor 0.8
42 200 contOrHistBins 64
42 200 contPerimMulti 0.06
42 200 contourMinArea 250
42 200 cropBPBegin 0
42 200 cropBPEnd 9
42 200 cropBPStep 3
42 200 cropBPThres 128
42 200 cropImageSize 64
42 200 cropInterpolat 1
42 200 cropWhiteBalan 1
42 200 detMatchFactoT 1.5
42 200 findRectMethod 2
42 200 fps 0
42 200 histMinSmoothi 11
42 200 histMinToleran 0.05
42 200 kittlerWWeight 1
42 200 kmeansWWeight 1
42 200 preprocDivisor 1
42 200 rSExpectdScore 2
42 200 rSExpectedDiff 0.5
42 200 rSLearnFactor 0.5
42 200 rSMaxNarrowing 0.3
42 200 rSStandardDevi 30
42 200 rSUnlearnFacto 0.9
42 200 rectMaxEdgeRat 1.5
42 200 rectMinArea 1000
42 200 refCornRadius 3
42 200 thresHistBins 64
42 200 thresMethod 5
42 200 warpImageSize 128

86
settings/parameters_stereo_cam.txt
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# Onboard parameters for system MAV 042
#
# MAV ID COMPONENT ID PARAM NAME VALUE (FLOAT)
42 100 SYS_ID 42
42 200 ACC_NAV_OFFS_X 0
42 200 ACC_NAV_OFFS_Y 0
42 200 ACC_NAV_OFFS_Z -1000
42 200 ACC_OFFSET_X 0
42 200 ACC_OFFSET_Y 0
42 200 ACC_OFFSET_Z 0
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 CAM_EXP 100
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 GYRO_OFFSET_X 29780
42 200 GYRO_OFFSET_Y 30350
42 200 GYRO_OFFSET_Z 29847
42 200 MIX_OFFSET 1
42 200 MIX_POSITION 0
42 200 MIX_POS_YAW 0
42 200 MIX_REMOTE 1
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_P 90
42 200 PID_POS_AWU 5
42 200 PID_POS_D 2
42 200 PID_POS_I 0.4
42 200 PID_POS_P 1.8
42 200 PID_POS_Z_AWU 3
42 200 PID_POS_Z_D 0.2
42 200 PID_POS_Z_I 0.4
42 200 PID_POS_Z_LIM 0.3
42 200 PID_POS_Z_P 0.5
42 200 PID_YAWPOS_AWU 1
42 200 PID_YAWPOS_D 1
42 200 PID_YAWPOS_I 0.1
42 200 PID_YAWPOS_P 5
42 200 PID_YAWSPEED_D 0
42 200 PID_YAWSPEED_I 10
42 200 PID_YAWSPEED_P 30
42 200 PID_YAWSPE_AWU 1
42 200 POS_SP_ACCEPT 0
42 200 POS_SP_X 1.1
42 200 POS_SP_Y 1.1
42 200 POS_SP_YAW 0
42 200 POS_SP_Z -0.8
42 200 POS_TIMEOUT 2e+06
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 1
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 2000
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

16
settings/plots.m
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% Attitude tuning
clc;
close all;
% load 'controller-log3.txt';
figure; hold on; plot((data(:,1)-data(1,1))/1000,data(:,2),'ob'); plot((data(:,1)-data(1,1))/1000,data(:,5),'og'); plot((data(:,1)-data(1,1))/1000,data(:,12),'or')
hold on;
plot((data(:,1)-data(1,1))/1000,data(:,8),'ok')
% plot(data(:,2),'-b'); plot(data(:,5),'-g'); plot(data(:,9),'-r')
legend('roll set point','roll rm set point','roll')
figure; hold on; plot(data(:,3),'ob'); plot(data(:,6),'og'); plot(data(:,11),'or')
legend('pitch set point','pitch rm set point','pitch')
figure; hold on; plot(data(:,4),'ob'); plot(data(:,7),'og'); plot(data(:,13),'or')
legend('yaw set point','yaw rm set point','yaw')

9
settings/waypoints-final-pole-racing.txt
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0 1.60066 0.497923 -0.7 -0.156858 1 1 0.15 2000
1 0.973377 0.691139 -0.7 -0.0664193 1 0 0.15 2000
2 0.646637 1.57225 -0.7 6.26573 1 0 0.15 2000
3 0.659852 2.39951 -0.7 -0.0549587 1 0 0.15 2000
4 1.41441 2.8804 -0.7 -0.0258336 1 0 0.15 2000
5 2.33563 2.90308 -0.7 -0.0621037 1 0 0.15 2000
6 2.76383 2.04368 -0.7 -0.0381553 1 0 0.15 2000
7 2.73091 1.05595 -0.7 -0.0520457 1 0 0.15 2000
8 1.73409 0.599043 0 6.26573 1 0 0.15 2000

7
settings/waypoints_8_L1.txt
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@ -1,7 +0,0 @@ @@ -1,7 +0,0 @@
0 3.1 3 -0.7 0 0 1 0.1 5000
1 3.1 2 -0.7 0 0 0 0.1 5000
2 3.1 0.6 -0.7 0 0 0 0.1 5000
3 3.1 0.3 -0.7 0 0 0 0.1 5000
4 2 0.3 -0.7 0 0 0 0.1 5000
5 1.5 0.3 -0.7 0 0 0 0.1 5000
6 1.5 0.3 0 0 0 0 0.1 2000

21
settings/waypoints_8_circle.txt
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0 3.7 0.3 -0.8 0 1 1 0.1 2000
1 3.1 0.3 -0.8 0 1 0 0.1 2000
2 3.1 0.8 -0.8 0 1 0 0.1 2000
3 3.1 1.3 -0.8 0 1 0 0.1 2000
4 3.1 2 -0.8 0 1 0 0.1 2000
5 3.1 2.8 -0.8 0 1 0 0.1 2000
6 3.1 3.2 -0.8 0 1 0 0.1 2000
7 2.1 3.2 -0.8 0 1 0 0.1 2000
8 1.1 3.2 -0.8 0 1 0 0.1 2000
9 0.4 3.2 -0.8 0 1 0 0.1 2000
10 0.25 3.2 -0.8 0 1 0 0.1 2000
11 0.25 2.2 -0.8 0 1 0 0.1 2000
12 0.25 1.2 -0.8 0 1 0 0.1 2000
13 0.25 0.5 -0.8 0 1 0 0.1 2000
14 0.25 0.3 -0.8 0 1 0 0.1 2000
15 1.1 0.3 -0.8 0 1 0 0.1 2000
16 2.1 0.3 -0.8 0 1 0 0.1 2000
17 2.8 0.3 -0.8 0 1 0 0.1 2000
18 3.1 0.3 -0.8 0 1 0 0.1 2000
19 3.7 0.3 -0.8 0 1 0 0.1 2000
20 3.7 0.3 0 0 1 0 0.1 2000

10
settings/waypoints_8_start_land.txt
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@ -1,10 +0,0 @@ @@ -1,10 +0,0 @@
0 3.7 0.3 -0.8 0 1 1 0.1 2000
1 3.1 0.3 -0.8 0 1 0 0.1 2000
2 3.1 0.8 -0.8 0 1 0 0.1 2000
3 3.1 1.3 -0.8 0 1 0 0.1 2000
4 3.1 1.4 -0.8 0 1 0 0.1 2000
5 3.1 1.3 -0.8 0 1 0 0.1 2000
6 3.1 0.8 -0.8 0 1 0 0.1 2000
7 3.1 0.3 -0.8 0 1 0 0.1 2000
8 3.7 0.3 -0.8 0 1 0 0.1 2000
9 3.7 0.3 0 0 1 0 0.1 2000

9
settings/waypoints_A0_circlev13_redesign.txt
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@ -1,9 +0,0 @@ @@ -1,9 +0,0 @@
0 1.66 0.55 -0.7 1.5708 1 1 0.2 1500
1 0.53 0.55 -0.7 1.5708 1 0 0.3 0
2 0.51 1.7 -0.7 1.5708 1 0 0.5 0
3 0.686046 2.7 -0.7 1.5708 1 0 0.3 0
4 1.66 2.7 -0.7 1.5708 1 0 0.5 0
5 2.43282 2.74 -0.7 1.5708 1 0 0.3 0
6 2.73 1.58 -0.7 1.5708 1 0 0.5 0
7 2.72167 0.57 -0.7 1.5708 1 0 0.3 0
8 1.66 0.57 -0.7 1.5708 1 0 0.5 0

17
settings/waypoints_braunschweig1.txt
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@ -1,17 +0,0 @@ @@ -1,17 +0,0 @@
0 3.05 1.6 -0.7 1.5708 1 1 0.2 1500
1 3 1 -0.7 1.5708 1 0 0.3 0
2 2.1 0.3 -0.7 1.5708 1 0 0.5 0
3 1 0.23 -0.7 1.5708 1 0 0.3 0
4 0.3 1.1 -0.7 1.5708 1 0 0.3 0
5 0.3 2.3 -0.7 1.5708 1 0 0.3 0
6 1.03 2.98 -0.7 1.58 1 0 0.3 0
7 2.15 3.06 -0.7 1.5708 1 0 0.3 0
8 2.93 2.25 -0.7 1.5708 1 0 0.3 0
9 3.68 1.85 -0.7 1.5708 1 0 0.3 0
10 4.84 1.78 -0.7 1.58 1 0 0.3 0
11 5.83 1.8 -0.7 1.5708 1 0 0.3 0
12 6.87 1.81 -0.7 1.5708 1 0 0.3 0
13 7.48 1.83 -0.7 1.5708 1 0 0.3 0
14 6.86 1.76 -0.7 1.58 1 0 0.3 0
15 5.65 1.71 -0.7 1.5708 1 0 0.3 0
16 4.31 1.8 -0.7 1.5708 1 0 0.3 0

17
settings/waypoints_braunschweig3.txt
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@ -1,17 +0,0 @@ @@ -1,17 +0,0 @@
0 3.05 1.6 -0.7 1.5708 1 1 0.2 1500
1 3 1 -0.7 1.5708 1 0 0.3 0
2 2.1 0.5 -0.7 1.5708 1 0 0.5 0
3 1 0.73 -0.7 1.5708 1 0 0.3 0
4 0.55 1.1 -0.7 1.5708 1 0 0.3 0
5 0.55 2.3 -0.7 1.5708 1 0 0.3 0
6 1.03 2.98 -0.7 1.58 1 0 0.3 0
7 2.15 2.86 -0.7 1.5708 1 0 0.3 0
8 2.93 2.25 -0.7 1.5708 1 0 0.3 0
9 3.68 1.85 -0.7 1.5708 1 0 0.3 0
10 4.84 1.78 -0.7 1.58 1 0 0.3 0
11 5.83 1.8 -0.7 1.5708 1 0 0.3 0
12 6.87 1.81 -0.7 1.5708 1 0 0.3 0
13 7.48 1.83 -0.7 1.5708 1 0 0.3 0
14 6.86 1.76 -0.7 1.58 1 0 0.3 0
15 5.65 1.71 -0.7 1.5708 1 0 0.3 0
16 4.31 1.8 -0.7 1.5708 1 0 0.3 0

3
settings/waypoints_demo.txt
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@ -1,3 +0,0 @@ @@ -1,3 +0,0 @@
Start~0~100~100~200~360~0~1
WP1~1~100~100~200~360~0~0
WP2~2~100~100~200~360~0~0
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