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Code Issues Wiki Activity

fixed autotune parameters format

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warhog 2017-04-23 08:34:42 +02:00
parent a1715d6e56
commit 17bc3bcf4e
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docs/Autotune - fixedwing.md
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@ -14,15 +14,17 @@ In general pilot needs to activate AUTOTUNE mode while in the air and then fly t
Before taking off you need to set up a few parameters for your airplane:
roll_rate - Maximum roll rate limit for your ariplane. Must not exceed physical limit of your plane
pitch_rate - Maximum pitch rate limit for your ariplane. Must not exceed physical limit of your plane
yaw_rate - Maximum yaw rate limit for your ariplane. Must not exceed physical limit of your plane
fw_p_level - Self-leveling strength. Bigger value means sharper response
fw_i_level - Self-leveling filtering. Usual value for airplanes is 1-5 Hz
max_angle_inclination_rll - Maximum roll angle in [0.1 deg] units
max_angle_inclination_pit - Maximum pitch angle in [0.1 deg] units
tpa_breakpoint - Cruise throttle (expected throttle that you would be flying most of the time)
tpa_rate - Amount of TPS curve to apply (usually should be in range 50-80 for most airplanes)
parameter | explanation
--------- | -----------
roll_rate | Maximum roll rate limit for your ariplane. Must not exceed physical limit of your plane
pitch_rate | Maximum pitch rate limit for your ariplane. Must not exceed physical limit of your plane
yaw_rate | Maximum yaw rate limit for your ariplane. Must not exceed physical limit of your plane
fw_p_level | Self-leveling strength. Bigger value means sharper response
fw_i_level | Self-leveling filtering. Usual value for airplanes is 1-5 Hz
max_angle_inclination_rll | Maximum roll angle in [0.1 deg] units
max_angle_inclination_pit | Maximum pitch angle in [0.1 deg] units
tpa_breakpoint | Cruise throttle (expected throttle that you would be flying most of the time)
tpa_rate | Amount of TPS curve to apply (usually should be in range 50-80 for most airplanes)
For most hobby-sized airplanes roll/pitch rate limits should be in range 70-120 deg/s (7-12 for `roll_rate` and `pitch_rate` values). Small and agile flying wings can reach 180-200 deg/s.