Hi All,
After reading code and a few forum entries there are several questions that I have regarding the APM code.
Can the PID parameters be reset in real time or is this purely a compiler time option, hence requiring a down load and reset ?
Are these parameters stored in the computer ROM or are they read out of ROM into core memory where they could be altered on the fly ?
The sensor parameters it appears can be read out through the USB port in real time. Is this the case, or am I misunderstanding the code ?
I am considering driving the APM from a PC and would like the PC to perform higher level adaption of parameters based on environmental conditions.I am assuming the APM code space is pretty limited as is without much room left for additional adaptive algorithms, reasonable assumption ?
Thanks for any input.
Regards,
Brian
Replies
PID parameters CAN be changed in real time. They are stored both in RAM for use by the running code and in EEPROM so that they can be recovered in the event of a reboot. You can read out a variety of telemetry through either the USB port or Serial3. Serial3 is preferred while flying as usually people do not have a USB cable hooked up in flight. Typically XBee modules are used w/ Serial3
Yes, code space is limited. PID gains are already adapted/scaled based on airspeed for servo control loops and ground speed for navigation loops.