From ed1a438d82fa784353f2dc8533e0e927152182b2 Mon Sep 17 00:00:00 2001 From: ucart <ucart_groundstation@iastate.edu> Date: Fri, 7 Apr 2017 18:01:55 -0500 Subject: [PATCH] script changes, these are the working values --- groundStation/scripts/eric.sh | 40 ++++++++++-------- groundStation/scripts/rate_controller.sh | 53 ++++++++++++++++++++++++ 2 files changed, 76 insertions(+), 17 deletions(-) create mode 100755 groundStation/scripts/rate_controller.sh diff --git a/groundStation/scripts/eric.sh b/groundStation/scripts/eric.sh index b84457723..2b3a57b2b 100755 --- a/groundStation/scripts/eric.sh +++ b/groundStation/scripts/eric.sh @@ -1,28 +1,34 @@ #!/bin/bash - +./setparam 18 0 0.045 #inner loop -#./setparam 'roll rate pid' 'kp' 2000 -#./setparam 'roll rate pid' 'ki' 0 -#./setparam 'roll rate pid' 'kd' 0 +./setparam 'roll rate pid' 'kp' 3000 +./setparam 'roll rate pid' 'ki' 0 +./setparam 'roll rate pid' 'kd' 500 +./setparam 'roll rate pid' 'alpha' 0.88 -#./setparam 'pitch rate pid' 'kp' 2000 -#./setparam 'pitch rate pid' 'ki' 0 -#./setparam 'pitch rate pid' 'kd' 0 +./setparam 'pitch rate pid' 'kp' 3000 +./setparam 'pitch rate pid' 'ki' 0 +./setparam 'pitch rate pid' 'kd' 500 +./setparam 'pitch rate pid' 'alpha' 0.88 -#./setparam 'roll pid' 'kp' 10 -#./setparam 'roll pid' 'ki' 0 +./setparam 'roll pid' 'kp' 50 +./setparam 'roll pid' 'ki' 0 +./setparam 'roll pid' 'kd' 1 +./setparam 'roll pid' 'alpha' 0.88 -#./setparam 'pitch pid' 'kp' 10 -#./setparam 'pitch pid' 'ki' 0 +./setparam 'pitch pid' 'kp' 50 +./setparam 'pitch pid' 'ki' 0 +./setparam 'pitch pid' 'kd' 1 +./setparam 'pitch pid' 'alpha' 0.88 #outer loop -./setparam 'X pos PID' 'kp' -0.015 -./setparam 'X pos PID' 'ki' -0.0005 -./setparam 'X pos PID' 'kd' -0.25 +./setparam 'X pos PID' 'kp' -0.175 +./setparam 'X pos PID' 'ki' -0.002 +./setparam 'X pos PID' 'kd' -0.225 ./setparam 'X pos PID' 'alpha' 0.88 -./setparam 'Y pos PID' 'kp' 0.015 -./setparam 'Y pos PID' 'ki' 0.0005 -./setparam 'Y pos PID' 'kd' 0.25 +./setparam 'Y pos PID' 'kp' 0.175 +./setparam 'Y pos PID' 'ki' 0.002 +./setparam 'Y pos PID' 'kd' 0.225 ./setparam 'Y pos PID' 'alpha' 0.88 diff --git a/groundStation/scripts/rate_controller.sh b/groundStation/scripts/rate_controller.sh new file mode 100755 index 000000000..fd37f3b5b --- /dev/null +++ b/groundStation/scripts/rate_controller.sh @@ -0,0 +1,53 @@ +#! /bin/bash + + +./setparam 18 0 0.045 +#inner loop +./setparam 'roll rate pid' 'kp' 3000 +./setparam 'roll rate pid' 'ki' 0 +./setparam 'roll rate pid' 'kd' 500 +./setparam 'roll rate pid' 'alpha' 0.88 + +./setparam 'pitch rate pid' 'kp' 3000 +./setparam 'pitch rate pid' 'ki' 0 +./setparam 'pitch rate pid' 'kd' 500 +./setparam 'pitch rate pid' 'alpha' 0.88 + +./setparam 'roll pid' 'kp' 35 +./setparam 'roll pid' 'ki' 0 +./setparam 'roll pid' 'kd' 1 +./setparam 'roll pid' 'alpha' 0.88 + +./setparam 'pitch pid' 'kp' 35 +./setparam 'pitch pid' 'ki' 0 +./setparam 'pitch pid' 'kd' 1 +./setparam 'pitch pid' 'alpha' 0.88 + +./setparam "X pos PID" "kp" -0.55 +./setparam "X pos PID" "ki" -0.0075 +./setparam "X pos PID" "kd" -0 + +./setparam "Y pos PID" "kp" -0.55 +./setparam "Y pos PID" "ki" -0.0075 +./setparam "Y pos PID" "kd" -0 + +./setparam "Altitude PID" "kp" -9804 +./setparam "Altitude PID" "ki" -817 +./setparam "Altitude PID" "kd" -7353 +./setparam "Altitude PID" "alpha" 0.88 + +./setparam "X vel PID" "kp" 0.1 +./setparam "X vel PID" "kd" 0.02 + +./setparam "X vel" "alpha" 0.88 + +./setparam "Y vel PID" "kp" -0.1 +./setparam "Y vel PID" "kd" -0.02 + +./setparam "y vel" "alpha" 0.88 + +./setparam "x val clamp" 0 -1 +./setparam "x val clamp" 1 1 + +./setparam "y val clamp" 0 -1 +./setparam "y val clamp" 1 1 -- GitLab