From a0fc81189464120f0309a0e3a10022e5d98c9918 Mon Sep 17 00:00:00 2001 From: Ryan Summers Date: Wed, 3 Jan 2018 21:38:37 -0800 Subject: [PATCH 1/3] Properly tuned the new PID parameters --- param/cobalt_sim.yaml | 32 ++++++++++++++++---------------- param/simulator.yaml | 2 +- 2 files changed, 17 insertions(+), 17 deletions(-) diff --git a/param/cobalt_sim.yaml b/param/cobalt_sim.yaml index 0c1ea79..cdd0201 100644 --- a/param/cobalt_sim.yaml +++ b/param/cobalt_sim.yaml @@ -9,31 +9,31 @@ control: proportional: x: 1.0 y: 1.0 - z: 2.0 - psi: 2.0 #roll - phi: 2.0 #pitch - theta: 0.07 #yaw + z: 3.0 + psi: 0.24 #roll + phi: 0.24 #pitch + theta: 0.08 #yaw integral: x: 0.0 y: 0.0 - z: 0.1 - psi: 1.0 - phi: 1.0 - theta: 0.1 + z: 0.0 + psi: 0.35 + phi: 0.35 + theta: 0.0 derivative: x: 0.0 y: 0.0 z: 1.0 - psi: 2.0 - phi: 2.0 - theta: 0.25 + psi: 0.5 + phi: 0.5 + theta: 0.14 windup: - x: 5.0 - y: 5.0 + x: 0.0 + y: 0.0 z: 0.1 - psi: 10.0 - phi: 10.0 - theta: 0.1 + psi: 50.0 + phi: 50.0 + theta: 0.0 hysteresis: x: 0.0 y: 0.0 diff --git a/param/simulator.yaml b/param/simulator.yaml index 50fac4f..2914436 100644 --- a/param/simulator.yaml +++ b/param/simulator.yaml @@ -5,7 +5,7 @@ rate: # than any rates used for topics published by the simulator # such as control, depth, sensor in cobalt_sim.yaml and # any rate parameters below - simulator_bridge: 30 + simulator_bridge: 150 position: 10 euler: 20 obstacle_pos: 1 From 1a751647fcc023fb9b2abc4eeb752945e7b6242b Mon Sep 17 00:00:00 2001 From: Ryan Summers Date: Wed, 3 Jan 2018 21:49:09 -0800 Subject: [PATCH 2/3] Adjusted integral terms --- param/cobalt_sim.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/param/cobalt_sim.yaml b/param/cobalt_sim.yaml index cdd0201..f571f8d 100644 --- a/param/cobalt_sim.yaml +++ b/param/cobalt_sim.yaml @@ -17,8 +17,8 @@ control: x: 0.0 y: 0.0 z: 0.0 - psi: 0.35 - phi: 0.35 + psi: 0.37 + phi: 0.33 theta: 0.0 derivative: x: 0.0 From 50b33678f951bf62c1b5681f2b91d99f63094229 Mon Sep 17 00:00:00 2001 From: Ryan Summers Date: Fri, 19 Jan 2018 20:46:04 -0800 Subject: [PATCH 3/3] Dropped bridge rate back to 30Hz --- param/simulator.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/param/simulator.yaml b/param/simulator.yaml index 2914436..50fac4f 100644 --- a/param/simulator.yaml +++ b/param/simulator.yaml @@ -5,7 +5,7 @@ rate: # than any rates used for topics published by the simulator # such as control, depth, sensor in cobalt_sim.yaml and # any rate parameters below - simulator_bridge: 150 + simulator_bridge: 30 position: 10 euler: 20 obstacle_pos: 1