[[searchwing-ardupilot-parameters]]

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searchwing-ardupilot-parameters [2020/02/16 14:06]
beckmanf [Arming / Safety] added INS_GYRO_CAL set to 0 		searchwing-ardupilot-parameters [2020/07/04 02:21]
wf68spef
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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 ====
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 |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| |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 ​      ​|2 ​          |2 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
 +    ​
 +    ​
 +===== RPM =====
 +
 +To measure the RPM of the motor we can use a BACK-EMF Measurement from 2 of the 3 motorcables. For more info check out the page:
 +
 +https://​www.hobbywingdirect.com/​products/​rpm-sensor
 +
 +We connected the output pins to a AUX pin of the FC. Check out the info from Ardupilot for some info regarding the following config:
 +
 +https://​ardupilot.org/​copter/​docs/​common-rpm.html
 +
 +
 +^Parametername ​     ^Value ​      ​^Description ​                ​^Remark ​ ^
 +|RPM_MAX |100000.000000000000000000 | | |
 +|RPM_MIN |10.000000000000000000 | | |
 +|RPM_MIN_QUAL |0.100000001490116119 | | |
 +|RPM_PIN |Pin | PIN | depending on FC |
 +|RPM_SCALING |0.143 | ​ |  check the hints below for this setting |
 +|RPM_TYPE |2 | AUX |  Type needs to be AUX to calc using the given sensor |
 +
 +The RPM in general can be calculated using the formula from https://​www.radiocontrolinfo.com/​brushless-motor-efficiency/​measuring-motor-rpm/​ :
 +
 +''​RPM = ( 120 x Frequency ) / # of Motor Poles''​
 +
 +Thats because:
 +
 +''​The AC current that is produced alternates each time 2 magnetic poles pass by a winding in the stator.
 +''​
 +
 +As Ardupilot measures the periode duration ''​dt_avg''​ of the sensor rectangular signal, and calculates the RPM using
 +
 +''​float rpm = scaling * (1.0e6 / dt_avg) * 60;''​
 +
 +the scaling needs to correct this using
 +
 +''​SCALING = ( 1 / # of Motor Poles ) * 2''​
 +
 +For the Extron 800KV Motor , we have 14 Poles.
  
 ===== Tuning ===== ===== Tuning =====
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 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.
  • searchwing-ardupilot-parameters.txt
  • Last modified: 2022/05/23 14:30
  • by wf68spef