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searchwing-ardupilot-parameters [2021/03/02 00:56] wf68spef [RPM] |
searchwing-ardupilot-parameters [2021/05/29 00:06] wf68spef |
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|SR2_PARAMS |0 |0 Hz | | | |SR2_PARAMS |0 |0 Hz | | | ||
|SR2_ADSB |0 |0 Hz | | | |SR2_ADSB |0 |0 Hz | | | ||
+ | |||
+ | |||
+ | ===== Logging ===== | ||
+ | |||
+ | Several bits can be set for logging of different informations: [[https://ardupilot.org/plane/docs/parameters.html#log-bitmask-log-bitmask|Log Bitmask Description]] | ||
+ | |||
+ | Enabled all (''==65535'') results in following per message data sum in bytes for a 20 minute flight: | ||
+ | |||
+ | {{ ::average_log_msg_sizes.png?1400 |}} | ||
+ | |||
+ | *** 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. | ||
+ | |||
+ | * 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. | ||
+ | |||
+ | * 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]]): | ||
+ | |||
+ | ^ Bit ^ Meaning ^ Enabled ^ | ||
+ | | 0 | ATTITUDE_FAST | OFF | | ||
+ | | 1 | ATTITUDE_MED | ON | | ||
+ | | 2 | GPS | ON | | ||
+ | | 3 | PM | ON | | ||
+ | | 4 | CTUN | OFF | | ||
+ | | 5 | NTUN | OFF | | ||
+ | | 6 | MODE | ON | | ||
+ | | 7 | IMU | OFF | | ||
+ | | 8 | CMD | ON | | ||
+ | | 9 | CURRENT | ON | | ||
+ | | 10 | COMPASS | ON | | ||
+ | | 11 | TECS | OFF | | ||
+ | | 12 | CAMERA | OFF | | ||
+ | | 13 | RC | ON | | ||
+ | | 14 | SONAR | OFF | | ||
+ | | 15 | ARM/DISARM | ON | | ||
+ | | 19 | IMU_RAW | OFF | | ||
+ | |||
+ | This results into the following parameter value | ||
+ | |||
+ | ^Parametername ^Value ^Description ^Remark ^ | ||
+ | |LOG_BITMASK |921 |921600 Baud | | | ||
+ | |SERIAL5_PROTOCOL |2 |MAVLink2 | | | ||
Line 129: | Line 177: | ||
For the Extron 800KV Motor , we have 14 Poles. | For the Extron 800KV Motor , we have 14 Poles. | ||
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- | After empirically comparing measurements of the given RPM sensor with some tachometer measurements, the actual formula need to be as following | ||
- | |||
- | ''SCALING = ( 1 / # of Motor Poles )'' | ||
===== Tuning ===== | ===== Tuning ===== |