[[searchwing-ardupilot-parameters]]

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searchwing-ardupilot-parameters [2021/05/30 00:55]
wf68spef [Logging]
searchwing-ardupilot-parameters [2022/05/23 14:30] (current)
wf68spef
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 ====== 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 ====
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 ^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 |
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   * 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. +  * 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]]) 
-  * 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. +  * 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) is not analyzed so far and **could be disabled**. +  * TECS (Total Energy Control System) ​controls altitude vs speed and is important ​and **should ​be enabled**. 
-  * 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.** +  * CTUN Logs contain baro and ** should ​be enabled.** 
-  * 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.**+  * NTUN Logs navigation tuning info at 10 Hz and ** should  ​be enabled.**
  
 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]]):​
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 | 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 |
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 | 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 values. In the remarks you can see empirical Results for some settings from ArduPlane Simulator. 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 ​      ​| ​ 65535          |  Log all    |     ~3.04 MB/Min Log          | +|LOG_BITMASK ​      ​| ​ 65535          | Log all    |     ~3.04 MB/Min Log          | 
-|LOG_BITMASK ​      ​|  ​42830          | Log from table above |     ~2.08 MB/​Min ​Log         ​|+|LOG_BITMASK ​      ​|  ​45054          | Log from table above (IMU disabled) ​|     TODO       | 
 +|LOG_BITMASK ​      ​| ​ TODO          | Log from table above (IMU enabled) |     ​TODO ​       ​|
 |LOG_BITMASK ​      ​| ​ 2              | Log only attitude Medium |     ~1.75 MB/Min Log         | |LOG_BITMASK ​      ​| ​ 2              | Log only attitude Medium |     ~1.75 MB/Min Log         |
  
  • searchwing-ardupilot-parameters.1622328927.txt.gz
  • Last modified: 2021/05/30 00:55
  • by wf68spef