[[searchwing-ardupilot-parameters]]

Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revision Previous revision
Next revision
Previous revision
searchwing-ardupilot-parameters [2021/05/29 00:06]
wf68spef
searchwing-ardupilot-parameters [2022/05/23 14:30] (current)
wf68spef
Line 1: Line 1:
 ====== Ardupilot Parameter Setup ====== ====== Ardupilot Parameter Setup ======
  
-[[https://​ardupilot.org/​plane/​docs/​parameters-Plane-stable-V4.0.3.html|Ardupilot description of the parameters]]+**Documentation is outdatedPlease take a look at the standard SearchWing configuration in the searchwing-config git.**
  
-[[https://​gitlab.com/​searchwing/​operational/​searchwing-config/​-/​tree/​master/​ardupilot%2Fv4.0.3|Kurdi Settings on gitlab]]+[[https://​ardupilot.org/​plane/​docs/​parameters-Plane-stable-V4.2.0.html|Ardupilot description of the parameters]] 
 + 
 +[[https://​gitlab.com/​searchwing/​operational/​searchwing-config/​-/​blob/​master/​ardupilot/​searchwing/​LATEST.params|Standard set of SearchWing ArduPilot parameters]]
  
 ==== Arming / Safety ==== ==== Arming / Safety ====
Line 60: Line 62:
 ^Parametername ​     ^Value ​      ​^Description ​                ​^Remark ​ ^ ^Parametername ​     ^Value ​      ​^Description ​                ​^Remark ​ ^
 |SERIAL2_BAUD ​      ​|9 ​          |9600 Baud |reduced to 9600 as otherwise no wifi with MAVESP connection possible | |SERIAL2_BAUD ​      ​|9 ​          |9600 Baud |reduced to 9600 as otherwise no wifi with MAVESP connection possible |
-|SERIAL2_PROTOCOL ​  |          |MAVLink1 ​|Only MAVLink1 works for pymavlink on pi |+|SERIAL2_PROTOCOL ​  |          |MAVLink2 ​Mavlink2 needed ​for PLAY_TUNE ​|
 |SR2_RAW_SENS ​      ​|0 ​          |0 Hz |no raw data needed | |SR2_RAW_SENS ​      ​|0 ​          |0 Hz |no raw data needed |
 |SR2_EXT_STAT ​      ​|1 ​          |1 Hz | | |SR2_EXT_STAT ​      ​|1 ​          |1 Hz | |
 |SR2_RC_CHAN ​       |0           |0 Hz | | |SR2_RC_CHAN ​       |0           |0 Hz | |
 |SR2_RAW_CTRL ​      ​|0 ​          |0 Hz | | |SR2_RAW_CTRL ​      ​|0 ​          |0 Hz | |
-|SR2_POSITION ​      |          |Hz | Contains GLOBAL_POSITION_INT,​ LOCAL_POSITION_NED messages | +|SR2_POSITION ​      |          |Hz | Contains GLOBAL_POSITION_INT,​ LOCAL_POSITION_NED messages | 
-|SR2_EXTRA1 ​      |          |Hz | Contains ATTITUDE message |+|SR2_EXTRA1 ​      |          |Hz | Contains ATTITUDE message |
 |SR2_EXTRA2 ​      ​|0 ​          |0 Hz |  | |SR2_EXTRA2 ​      ​|0 ​          |0 Hz |  |
 |SR2_EXTRA3 ​      ​|1 ​          |1 Hz | Contains SYSTEM_TIME message | |SR2_EXTRA3 ​      ​|1 ​          |1 Hz | Contains SYSTEM_TIME message |
Line 81: Line 83:
 {{ ::​average_log_msg_sizes.png?​1400 |}} {{ ::​average_log_msg_sizes.png?​1400 |}}
  
-*** The PID, NKF(EKF) and IMU take a lot of space.**  +  ​* The PID, NKF(EKF) and IMU take a lot of space. 
- +  * The PID and EKF is saved using the "​attitude"​ bit in the logging parameter setting (see [[https://​github.com/​ArduPilot/​ardupilot/​blob/​6af0f460afa6f51c41056cd25fe2c70164d9d460/​ArduPlane/​Log.cpp#​L39|Code]]). For the attitude two settings are available: Fast (50Hz), Medium(10Hz) according to [[https://​github.com/​ArduPilot/​ardupilot_wiki/​blob/​6c81c28126e6cb2bdbb9cb58291342ca3ade96a0/​dev/​source/​docs/​using-the-command-line-interpreter-to-configure-apmcopter.rst#​reading-logs-through-the-cli|LINK]]. I think 10Hz could be enough for us. __**But in the Code actually the Logging is done with 25Hz**__ (see [[https://​github.com/​ArduPilot/​ardupilot/​blob/​d8d3494b170d50f7b45dced928cd5d9150b50d2f/​ArduPlane/​ArduPlane.cpp#​L87|Code]]) 
-* The PID and EKF is saved using the "​attitude"​ bit in the logging parameter setting (see [[https://​github.com/​ArduPilot/​ardupilot/​blob/​6af0f460afa6f51c41056cd25fe2c70164d9d460/​ArduPlane/​Log.cpp#​L39|Code]]). For the attitude two settings are available: Fast (50Hz), Medium(10Hz) according to [[https://​github.com/​ArduPilot/​ardupilot_wiki/​blob/​6c81c28126e6cb2bdbb9cb58291342ca3ade96a0/​dev/​source/​docs/​using-the-command-line-interpreter-to-configure-apmcopter.rst#​reading-logs-through-the-cli|LINK]]. I think 10Hz could be enough for us. +  * IMU logging **could be disabled,** as its already triggerd by attitude logging anyway (see [[https://​github.com/​ArduPilot/​ardupilot/​blob/​d8d3494b170d50f7b45dced928cd5d9150b50d2f/​ArduPlane/​ArduPlane.cpp#​L209|Code]]),​ but with less data amount. **UPDATE:** Actually IMU also loggs the **BARO**, so it should not be disabled (see [[https://​github.com/​ArduPilot/​ardupilot/​search?​q=set_log_baro_bit|INFO]]
- +  * TECS (Total Energy Control System) ​controls altitude vs speed and is important ​and **should ​be enabled**
-* IMU logging **could be disabled,** as its already triggerd by attitude logging anyway (see [[https://​github.com/​ArduPilot/​ardupilot/​blob/​d8d3494b170d50f7b45dced928cd5d9150b50d2f/​ArduPlane/​ArduPlane.cpp#​L209|Code]]),​ but with less data amount. +  * CTUN Logs contain baro and ** should ​be enabled.** 
- +  * NTUN Logs navigation tuning info at 10 Hz and ** should  ​be enabled.**
-* TECS (Total Energy Control System) is not analyzed so far and could be disabled+
- +
-* CTUN Logs control loop tuning info at 10 Hz. This information is useful for tuning servo control loop gain values. AFAIK this is not analyzed so far and** could be disabled.** +
- +
-* NTUN Logs navigation tuning info at 10 Hz. This information is useful for tuning navigation control loop gain values. AFAIK this is not analyzed so far and** could be disabled.**+
  
 This results in the following Table (according to [[https://​ardupilot.org/​plane/​docs/​parameters.html#​log-bitmask-log-bitmask|Log Bitmask Description]]):​ This results in the following Table (according to [[https://​ardupilot.org/​plane/​docs/​parameters.html#​log-bitmask-log-bitmask|Log Bitmask Description]]):​
  
 ^ Bit ^ Meaning ​   ^ Enabled ^ ^ Bit ^ Meaning ​   ^ Enabled ^
-| 0 | ATTITUDE_FAST | OFF | +| 0 | ATTITUDE_FAST(50Hz) ​| OFF | 
-| 1 | ATTITUDE_MED | ON |+| 1 | ATTITUDE_MED(10Hz) ​| ON |
 | 2 | GPS | ON | | 2 | GPS | ON |
 | 3 | PM | ON | | 3 | PM | ON |
-| 4 | CTUN | OFF +| 4 | CTUN | ON 
-| 5 | NTUN | OFF |+| 5 | NTUN | ON |
 | 6 | MODE | ON | | 6 | MODE | ON |
-| 7 | IMU | OFF |+| 7 | IMU | ON |
 | 8 | CMD | ON | | 8 | CMD | ON |
 | 9 | CURRENT | ON | | 9 | CURRENT | ON |
 | 10 | COMPASS | ON | | 10 | COMPASS | ON |
-| 11 | TECS | OFF |+| 11 | TECS | ON |
 | 12 | CAMERA | OFF | | 12 | CAMERA | OFF |
 | 13 | RC | ON | | 13 | RC | ON |
Line 113: Line 110:
 | 15 | ARM/DISARM | ON | | 15 | ARM/DISARM | ON |
 | 19 | IMU_RAW | OFF | | 19 | IMU_RAW | OFF |
 +| 20 | ATTITUDE_FULLRATE | OFF |
  
-This results into the following parameter ​value+This results into the following parameter ​values. In the remarks you can see empirical Results for some settings from ArduPlane Simulator.
  
 ^Parametername ​     ^Value ​      ​^Description ​                ​^Remark ​ ^ ^Parametername ​     ^Value ​      ​^Description ​                ​^Remark ​ ^
-|LOG_BITMASK ​      |921           |921600 Baud |  | +|LOG_BITMASK ​      ​| ​ ​65535 ​         ​Log all    |     ~3.04 MB/Min Log          | 
-|SERIAL5_PROTOCOL ​  |2           ​|MAVLink2 ​  ​|+|LOG_BITMASK ​      |  ​45054          | Log from table above (IMU disabled) |     ​TODO ​      
 +|LOG_BITMASK ​       ​TODO ​         | Log from table above (IMU enabled) |     ​TODO ​       | 
 +|LOG_BITMASK ​      ​|  ​             Log only attitude Medium ​    ~1.75 MB/Min Log         |
  
  
  • searchwing-ardupilot-parameters.1622239604.txt.gz
  • Last modified: 2021/05/29 00:06
  • by wf68spef