Anyone having PID parameters settings for Rascal110. Plz help.
thanks
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Anyone having PID parameters settings for Rascal110. Plz help.
thanks
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Replies
Hello Addy/Moglos,
After long time, I had left this project. Actually I am still struggling with the setup with flightgear and not able to find any help on net. I have spent day and dont want to leave it again incomplete this time. Please guys help me out.
Now I am able to launch, flightgear with Rascal plane. But on ground it is very unstable. I yaws very badly so I tried to initalise it directly in air but again I am not able control it in manual mode. It rolls and then comes to ground. Not able to find what is the issue, I am using the latest version of flightgear should i change it back to flightgear 2.x version as mentioned in DIY drones website. Completely helpless on this.
Do I have to change other configuration parameters like PID gains etc? Also I am using the older version of software V2.68 as mentioned in the website. Should I try with the latest version.
Did you ever get this solved? Seem to be having the same problem when I start the Rascal plane in air. Wondering what you did or if you found anything else out.
Can someone please direct me to a place where I can look up what the purpose of all of these values are? I apologize if I am posting in the wrong place I am new to forums in general. Any help provided will be very helpful. I am using an x quadcopter with an arduopilot. Thanks in advance!
RC7_MAX,1497
RC7_DZ,0
SYSID_MYGCS,255
SR0_EXTRA1,0
STB_YAW_I,0
WPNAV_LOIT_SPEED,400
CIRCLE_RATE,5
INS_MPU6K_FILTER,0
SONAR_TYPE,0
RC4_DZ,40
OF_RLL_P,2.5
RATE_PIT_D,0.004
RC2_TRIM,1509
SERIAL3_BAUD,57
RSSI_PIN,-1
THR_MAX,1000
SYSID_THISMAV,1
OF_PIT_I,0.5
RC11_MIN,1100
RC6_REV,1
SR3_EXTRA1,0
RC1_DZ,30
RTL_ALT_FINAL,200
ACRO_P,4.5
MNT_RC_IN_PAN,0
SR3_EXTRA3,0
BATT_VOLT_PIN,13
RATE_PIT_I,0.1
MNT_NEUTRAL_X,0
SR3_EXT_STAT,0
FLTMODE3,0
RC2_REV,1
OF_RLL_I,0.5
SCHED_DEBUG,0
SR3_RAW_CTRL,0
OF_PIT_IMAX,100
ACRO_BAL_ROLL,200
AHRS_TRIM_Z,0
SR0_PARAMS,50
SR3_PARAMS,0
HLD_LAT_IMAX,3000
RC10_DZ,0
RC4_MIN,1113
SR3_RAW_SENS,0
RTL_LOIT_TIME,5000
RC_SPEED,490
MNT_STAB_PAN,0
RC10_FUNCTION,0
RC10_TRIM,1500
SR0_EXTRA2,0
RC11_REV,1
FENCE_ENABLE,0
RC4_MAX,1904
RTL_ALT,1500
RC10_MAX,1900
LOITER_LAT_P,1
AHRS_TRIM_Y,0.01
MOT_TCRV_MIDPCT,52
COMPASS_OFS_X,-53.542
COMPASS_OFS_Y,-105.59
COMPASS_OFS_Z,107.401
FENCE_ALT_MAX,100
RC8_MIN,1496
RC11_TRIM,1500
RC5_TRIM,1510
LED_MODE,9
MNT_ANGMAX_ROL,4500
FS_GPS_ENABLE,1
RATE_RLL_P,0.1
FLTMODE5,0
GND_ABS_PRESS,100583.4
THR_ALT_P,1
SR0_EXT_STAT,0
STB_YAW_IMAX,800
STB_RLL_P,4.4
INAV_TC_Z,5
RC7_REV,1
THR_ACCEL_I,1.5
RC1_MIN,1105
MOT_TCRV_MAXPCT,93
FRAME,1
MNT_RETRACT_Z,0
MNT_RETRACT_X,0
MNT_RETRACT_Y,0
FS_BATT_ENABLE,0
MNT_RC_IN_TILT,0
COMPASS_MOT_Y,0
SR0_EXTRA3,0
RC11_DZ,0
RC11_MAX,1900
THR_ALT_I,0
RC6_FUNCTION,0
BATT_CURR_PIN,12
LOITER_LON_D,0
STB_RLL_I,0
FENCE_TYPE,3
TRIM_THROTTLE,544
SR0_RAW_CTRL,0
WP_YAW_BEHAVIOR,2
RC5_MAX,1910
MNT_JSTICK_SPD,0
WP_INDEX,0
MNT_RC_IN_ROLL,0
RC2_DZ,30
CAM_SERVO_OFF,1100
COMPASS_ORIENT,0
CIRCLE_RADIUS,10
RATE_RLL_IMAX,500
TELEM_DELAY,0
STB_YAW_P,4.5
LOITER_LON_I,0.5
RC7_FUNCTION,0
RATE_YAW_D,0
RC8_TRIM,1497
RC4_REV,1
RC3_TRIM,1501
RC1_REV,1
TOY_RATE,1
LOW_VOLT,10.5
LOITER_LON_IMAX,400
FENCE_RADIUS,150
SUPER_SIMPLE,0
FLOW_ENABLE,0
RC7_MIN,1496
SYSID_SW_TYPE,10
ARMING_CHECK,1
RC11_FUNCTION,0
THR_ACC_ENABLE,1
BATT_MONITOR,3
CAM_TRIGG_TYPE,0
RC6_MIN,1496
SR3_RC_CHAN,0
FS_THR_VALUE,1050
FS_THR_ENABLE,1
PILOT_VELZ_MAX,250
LOG_BITMASK,830
OF_PIT_P,2.5
FLTMODE4,5
ACRO_TRAINER,1
SR3_EXTRA2,0
THR_ACCEL_IMAX,500
MNT_STAB_ROLL,0
COMPASS_AUTODEC,1
MNT_CONTROL_X,0
MNT_ANGMAX_TIL,4500
MNT_CONTROL_Z,0
RC8_FUNCTION,0
RATE_YAW_P,0.2
THR_MIN,130
WPNAV_SPEED,400
RC2_MAX,1913
RC8_REV,1
RC3_MIN,1098
MNT_ANGMIN_PAN,-4500
MNT_ANGMIN_ROL,-4500
AHRS_GPS_USE,1
RATE_YAW_I,0.02
THR_MID,500
MNT_ANGMAX_PAN,4500
RC6_DZ,0
RATE_RLL_D,0.004
MNT_NEUTRAL_Z,0
STB_RLL_IMAX,800
AHRS_GPS_GAIN,1
AMP_PER_VOLT,18.002
OF_RLL_D,0.12
STB_PIT_P,4.4
CH7_OPT,0
VOLT_DIVIDER,10.24
THR_RATE_I,0
RC3_DZ,30
RC5_REV,1
AHRS_GPS_MINSATS,6
FLTMODE6,0
SR0_POSITION,0
THR_ACCEL_P,0.5
COMPASS_USE,1
SONAR_GAIN,0.2
COMPASS_DEC,0
AHRS_WIND_MAX,0
MNT_MODE,0
RC8_DZ,0
WP_TOTAL,1
STB_PIT_I,0
RC5_MIN,1107
MAG_ENABLE,1
THR_RATE_IMAX,300
WPNAV_RADIUS,200
RC5_FUNCTION,0
SYSID_SW_MREV,120
SONAR_ENABLE,0
FLTMODE2,0
INS_GYROFFS_X,0.026
INS_GYROFFS_Y,-0.045
INS_GYROFFS_Z,-0.002
THR_ACCEL_D,0
LOITER_LAT_D,0
THR_RATE_P,5
FS_GCS_ENABLE,0
WPNAV_ACCEL,100
RC1_MAX,1911
RATE_PIT_P,0.1
AHRS_COMP_BETA,0.1
WPNAV_SPEED_UP,250
AHRS_ORIENTATION,0
RC3_MAX,1917
RATE_RLL_I,0.1
OF_RLL_IMAX,100
CH8_OPT,0
INS_ACCOFFS_Z,0.337
INS_ACCOFFS_Y,0.226
INS_ACCOFFS_X,-0.116
LOITER_LAT_I,0.5
TUNE,0
TUNE_LOW,0
ESC,0
SR0_RC_CHAN,0
AHRS_RP_P,0.1
OF_PIT_D,0.12
AHRS_TRIM_X,0.005
RC4_TRIM,1509
RC6_MAX,1497
RC10_MIN,1100
RC10_REV,1
RATE_YAW_IMAX,800
FENCE_ACTION,1
RC5_DZ,0
SR3_POSITION,0
MNT_ANGMIN_TIL,-4500
FLTMODE1,6
LOITER_LAT_IMAX,400
RC3_REV,1
MNT_STAB_TILT,0
RATE_PIT_IMAX,500
CAM_SERVO_ON,1300
HLD_LON_IMAX,3000
LOITER_LON_P,1
WPNAV_SPEED_DN,150
BATT_CAPACITY,5000
STB_PIT_IMAX,800
RC8_MAX,1497
LAND_SPEED,50
MNT_NEUTRAL_Y,0
SIMPLE,8
INS_ACCSCAL_X,1.005
INAV_TC_XY,2.5
COMPASS_MOTCT,0
HLD_LON_I,0
COMPASS_LEARN,0
AXIS_ENABLE,1
HLD_LAT_I,0
RC6_TRIM,1497
RC2_MIN,1111
SR0_RAW_SENS,0
ACRO_BAL_PITCH,200
THR_ALT_IMAX,300
AHRS_YAW_P,0.1
HLD_LON_P,0.4
THR_RATE_D,0
MOT_TCRV_ENABLE,1
RC7_TRIM,1497
HLD_LAT_P,0.4
CAM_DURATION,10
MNT_CONTROL_Y,0
TUNE_HIGH,1000
RC1_TRIM,1512
COMPASS_MOT_Z,0
COMPASS_MOT_X,0
INS_ACCSCAL_Y,0.995
INS_ACCSCAL_Z,0.99
INS_PRODUCT_ID,88
GND_TEMP,32.67
Dear friends,
I want to do HIL simulation with flightgear and have following setup.
GCS 1.2.76, Ardupilot 2.5 and Flightgear 2.10.
I have followed exactly the steps given in the following link.
http://plane.ardupilot.com/wiki/flightgear/
but not able to get everything working. I am facing two main issues.
1. I am not getting Rascal airplane when I launch flightgear from GCS interface. I am not able to find what is missing.
2. With Cessna airplane, I am able to fly manually but as soon as I put in auto mode, throttle goes to zero and aircraft starts diving from the sky. I am not able to find what could be the probable reasons for this.
Please friends help me out as I am really struggling with these issues.
Hi Addy,
How do you select other models? I'm using the method at http://code.google.com/p/ardupilot-mega/wiki/FlightGear and I can fly missions OK with the default Cessna, but I don't know how to choose the Rascal model.
Rascal is small rc airplane and there are models available for simulators.
yeah HIL works fine. i did this for 2 models on flightgear. and the code works absolutely fine. if u need any further help please feel free to ask.
Are a few pod changes, and now it keeps crashing, using the default Cessna 172 aircraft,
Is the rascal a standard aircraft?