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Both sides previous revision Previous revision Next revision | Previous revision Next revision Both sides next revision | ||
searchwing-ardupilot-parameters [2020/02/06 00:48] beckmanf Moved to table and added servo min/max |
searchwing-ardupilot-parameters [2020/02/28 16:20] wf68spef [PI Zero Telemetry for image metadata] |
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====== Ardupilot Parameter Setup ====== | ====== Ardupilot Parameter Setup ====== | ||
- | [[https://ardupilot.org/plane/docs/parameters-Plane-stable-V4.0.3.html|Description of the parameters]] | + | [[https://ardupilot.org/plane/docs/parameters-Plane-stable-V4.0.3.html|Ardupilot description of the parameters]] |
+ | |||
+ | [[https://gitlab.com/searchwing/operational/searchwing-config/-/tree/master/ardupilot%2Fv4.0.3|Kurdi Settings on gitlab]] | ||
==== Arming / Safety ==== | ==== Arming / Safety ==== | ||
Line 8: | Line 10: | ||
|BRD_SAFETYENABLE |0 |Disable the safety switch |Safety switch is not accessible, because it is inside the fuselage | | |BRD_SAFETYENABLE |0 |Disable the safety switch |Safety switch is not accessible, because it is inside the fuselage | | ||
|ARMING_RUDDER |2 |Arm and Disarm with rudder |Default is that you can only arm but not disarm with rudder | | |ARMING_RUDDER |2 |Arm and Disarm with rudder |Default is that you can only arm but not disarm with rudder | | ||
- | |BRD_SAFETY_MASK |15 |Servo 1,2,3,4 enabled |These servos can move also in safe state - NOT REQUIRED??? | | + | |BRD_SAFETY_MASK |27 |Servo 1,2,4,5 enabled |These servos can move also in safe state - NOT REQUIRED??? | |
+ | |INS_GYRO_CAL |0 |Disable Gyro Calibration at startup | This prevents INS calibration at startup| | ||
+ | |ARSPD_TYPE |0 |No Airspeed Pitot Tube | Disable the Pitottube airspeed sensor (we don't have one)| | ||
+ | |COMPASS_USE2 |0 |Disable PixRacer compass | Disable the PixRacer internal compass | | ||
+ | |COMPASS_USE3 |0 |Disable PixRacer compass | Disable the PixRacer internal compass | | ||
Is the safety_mask maybe not required because the pixracer is always in safe state? Safe and disarmed is different? | Is the safety_mask maybe not required because the pixracer is always in safe state? Safe and disarmed is different? | ||
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^Parametername ^Value ^Description ^Remark ^ | ^Parametername ^Value ^Description ^Remark ^ | ||
- | |SERVO1_FUNCTION |4 | Aileron right | | | + | |SERVO1_FUNCTION |4 | Aileron left | | |
|SERVO1_REVERSED |1 | Reverse the servo | | | |SERVO1_REVERSED |1 | Reverse the servo | | | ||
- | |SERVO2_FUNCTION |4 | Aileron left | | | + | |SERVO2_FUNCTION |79 | VTAIL left | | |
- | |SERVO2_REVERSED |1 | Reverse the servo | | | + | |SERVO2_REVERSED |0 | Normal | | |
- | |SERVO3_FUNCTION |80 | VTAIL right | | | + | |SERVO3_FUNCTION |70 | Throttle | | |
- | |SERVO3_REVERSED |1 | Reverse the servo | | | + | |SERVO3_REVERSED |0 | Reverse the servo | | |
- | |SERVO4_FUNCTION |79 | VTAIL left | | | + | |SERVO4_FUNCTION |80 | VTAIL right | | |
- | |SERVO4_REVERSED |0 | Normal servo | | | + | |SERVO4_REVERSED |1 | Reverse servo | | |
- | |SERVO5_FUNCTION |70 | Throttle | | | + | |SERVO5_FUNCTION |4 | Aileron right | | |
- | |SERVO5_REVERSED |0 | Normal servo | | | + | |SERVO5_REVERSED |1 | Reversed | | |
- | ^Servo ranges for servo 1 to 4 (aileron and vtail) |||| | + | ^Servo ranges for servo 1,2,4,5 (aileron and vtail) |||| |
|SERVOx_MIN |1000 | Minimum servo value | Default is 1100 - too high | | |SERVOx_MIN |1000 | Minimum servo value | Default is 1100 - too high | | ||
- | |SERVOx_MAX |2000 | Maximum servo value | Default is 1900 - too low | | + | |SERVOx_MAX |2000 | Maximum servo value | Default is 1900 - too low | |
+ | |SERVOx_TRIM |1500 | Default value | Leitwerk mitte | | ||
^Servo ranges for throttle |||| | ^Servo ranges for throttle |||| | ||
- | |SERVO5_MIN |950 | Minimum servo value | CHECK THIS!!! Maybe 950 to be able to arm| | + | |SERVO3_MIN |900 | Minimum servo value | CHECK THIS!!! Maybe 950 to be able to arm| |
- | |SERVO5_MAX |2000 | Maximum servo value | Default is 1900 - too low | | + | |SERVO3_MAX |2000 | Maximum servo value | Default is 1900 - too low | |
+ | |SERVO3_TRIM |900 | Default value | zero throttle | | ||
==== Servo/PID Controller ==== | ==== Servo/PID Controller ==== | ||
^Parametername ^Value ^Description ^Remark ^ | ^Parametername ^Value ^Description ^Remark ^ | ||
- | |MIXING_GAIN |1.0 |Mixing of pitch and rudder to vtail |Default is 0.5 - full pitch will yield only 50 percent of vtail servo output | | + | |MIXING_GAIN |0.75 |Mixing of pitch and rudder to vtail |Default is 0.5 - full pitch will yield only 50 percent of vtail servo output | |
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Aktiviert die FrSky Telemetrie auf dem FrSky Port des Pixracers | Aktiviert die FrSky Telemetrie auf dem FrSky Port des Pixracers | ||
+ | |||
+ | |||
+ | ===== PI Zero Telemetry for image metadata ===== | ||
+ | |||
+ | Metadata consist of GPS / Timestamp | ||
+ | |||
+ | ^Parametername ^Value ^Description ^Remark ^ | ||
+ | |SERIAL2_BAUD |9 |9600 Baud |reduced to 9600 as otherwise no wifi with MAVESP connection possible | | ||
+ | |SERIAL2_PROTOCOL |1 |MAVLink1 |Only MAVLink1 works for pymavlink on pi | | ||
+ | |SR2_RAW_SENS |0 |0 Hz |no raw data needed | | ||
+ | |SR2_EXT_STAT |1 |1 Hz | | | ||
+ | |SR2_RC_CHAN |0 |0 Hz | | | ||
+ | |SR2_RAW_CTRL |0 |0 Hz | | | ||
+ | |SR2_POSITION |1 |1 Hz | Contains GLOBAL_POSITION_INT, LOCAL_POSITION_NED messages | | ||
+ | |SR2_EXTRA1 |2 |2 Hz | Contains ATTITUDE message | | ||
+ | |SR2_EXTRA2 |0 |0 Hz | | | ||
+ | |SR2_EXTRA3 |1 |1 Hz | Contains SYSTEM_TIME message | | ||
+ | |SR2_PARAMS |0 |0 Hz | | | ||
+ | |SR2_ADSB |0 |0 Hz | | | ||
+ | |||
+ | |||
+ | ===== MAVESP8266 Wifi Telemetry ===== | ||
+ | |||
+ | ^Parametername ^Value ^Description ^Remark ^ | ||
+ | |SERIAL5_BAUD |921 |921600 Baud | | | ||
+ | |SERIAL5_PROTOCOL |2 |MAVLink2 | | | ||
===== Power Module ===== | ===== Power Module ===== | ||
- | 1 1 BATT_AMP_PERVLT 36.000000000000000000 9 | + | 1 1 BATT_AMP_PERVLT 24.0 9 |
+ | 1 1 BATT_AMP_OFFSET -0.07 9 | ||
1 1 BATT_CURR_PIN 3 2 | 1 1 BATT_CURR_PIN 3 2 | ||
1 1 BATT_MONITOR 4 2 | 1 1 BATT_MONITOR 4 2 | ||
1 1 BATT_SERIAL_NUM -1 6 | 1 1 BATT_SERIAL_NUM -1 6 | ||
- | 1 1 BATT_VOLT_MULT 10.207025527954101563 9 | + | 1 1 BATT_VOLT_MULT 10.213 9 |
1 1 BATT_VOLT_PIN 2 2 | 1 1 BATT_VOLT_PIN 2 2 | ||
1 1 BATT_WATT_MAX 0 4 | 1 1 BATT_WATT_MAX 0 4 | ||
Line 76: | Line 110: | ||
If min groundspeed is net met, plane increases throttle | If min groundspeed is net met, plane increases throttle | ||
- | 1 1 NAVL1_DAMPING 0.600000023841857910 9 | + | 1 1 NAVL1_DAMPING 0.800000023841857910 9 |
- | 1 1 NAVL1_PERIOD 10.000000000000000000 9 | + | 1 1 NAVL1_PERIOD 17.000000000000000000 9 |
- | TBD! | + | This is the default value for NAVL1 (Beck, 27.2.20) |
1 1 PTCH2SRV_RLL 1.299999952316284180 9 | 1 1 PTCH2SRV_RLL 1.299999952316284180 9 | ||
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1 1 TECS_CLMB_MAX 6.500000000000000000 9 | 1 1 TECS_CLMB_MAX 6.500000000000000000 9 | ||
1 1 TECS_SINK_MAX 5.000000000000000000 9 | 1 1 TECS_SINK_MAX 5.000000000000000000 9 | ||
- | 1 1 TECS_SPDWEIGHT 1.000000000000000000 9 #TBD! | ||
- | |||
- | Height is more important than speed | ||
- | SPDWEIGHT - Setting it to 0.0 will cause the pitch control to control height and ignore speed errors. This will normally improve height accuracy but give larger airspeed errors. | ||
- | 1 1 WP_LOITER_RAD 40 4 | + | 1 1 WP_LOITER_RAD 60 4 |
- | 1 1 WP_RADIUS 25 4 | + | 1 1 WP_RADIUS 90 4 |
- | TBD; should increase precission | + | WP settings are set to default (Beck, 27.2.20) |
# Modes Setup (Special Switches) | # Modes Setup (Special Switches) | ||
to be done. | to be done. |