Hi,
I have several questions.
Question on Kp Ki (PI) regulator:
In this file AP_DCM.cpp is write:
#define Kp_ROLLPITCH 0.05967 // .0014 * 418/9.81 Pitch&Roll Drift Correction Proportional Gain
#define Ki_ROLLPITCH 0.00001278 // 0.0000003 * 418/9.81 Pitch&Roll Drift Correction Integrator Gain
#define Kp_YAW 0.8 // Yaw Drift Correction Porportional Gain
#define Ki_YAW 0.00004 // Yaw Drift CorrectionIntegrator Gain
How can I find the best Kp and Ki for Pitch&Roll and Yaw?
What method (calcul) I must to do for find the best Kp and Ki?
I need someone to explain step by step for this method.
Why the Kp_ROLLPITCH value and Kp_YAW value is different?
It is because dt (Time) for Kp_ROLLPITCH = 50Hz and Kp_YAW = 10Hz?
If I use different kind of gyroscope(ITG-3200, L3G4200D, LYPR540AH, and other), I can use the same Kp and Ki values for each kind of gyroscope?
Question on DCM vs quaternion approach:
What is good and not good in the DCM approach?
What is good and not good in the quaternion approach with Mahony paper?
Thank you
Nicolas
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