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param.txt
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param.txt
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--RMTunerEnterprize--2018-03-31-16-45-57--
Gimbal Yaw Vel
0 False 2
-2120.0 KP 3 0
-7.61000013351 KI 0 1
Gimbal Pitch Vel
1 False 2
-2860.0 KP 3 0
-8.30000019073 KI 1 1
Gimbal Axis FF
2 False 6
0.0 Yaw_w1 0 0
1220.0 Pitch_w 3 1
0.740000009537 Yaw_SD 0 2
0.0 Pitch_a 0 3
0.0 Yaw_w2 0 4
0.0 Yaw_th 0 5
Gimbal Yaw Pos
3 False 3
-14100.0 KP 4 0
-6.86000013351 KI 0 1
-1050.0 KD 3 2
Gimbal Pitch Pos
4 False 3
-59700.0 KP 4 0
-22.0 KI 1 1
-1043.0 KD 2 2
Gimbal Init Pos
5 False 2
-1.6740000248 Yaw -1 0
-2.51699995995 Pitch -1 1
Gimbal FF Accl
6 False 6
-0.146999999881 YawX -1 0
-0.0 YawY 0 1
9.72999954224 YawZ 0 2
0.0 PitchX 0 3
-0.0 PitchY 0 4
0.0 PitchZ 0 5
Gimbal Yaw Atti
7 False 3
29.0 KP 1 0
0.0920000001788 KI -1 1
0.259999990463 KD 0 2
Gimbal Pitch Atti
8 False 3
33.0 KP 1 0
1.35000002384 KI 0 1
0.186000004411 KD -1 2
Gimbal FF Int
9 False 2
0.0 Yaw 0 0
0.0 Pitch 0 1
Gimbal axis limit
10 False 4
1.63999998569 Yaw_min 0 0
0.72000002861 Yaw_max 0 1
-2.97000002861 Pitch_min 0 2
-1.89999997616 Pitch_max 0 3
FEEDER_VEL
14 False 4
1.37000000477 p0 0 0
0.189999997616 p1 0 1
6.05000019073 p2 0 2
14700.0 p3 4 3
FEEDER_POS
15 False 4
5.0 p0 0 0
0.0 p1 0 1
0.0 p2 0 2
0.0 p3 0 3
FEEDER_POS_VEL
16 False 4
0.449999988079 p0 0 0
0.0 p1 0 1
0.0 p2 0 2
0.0 p3 0 3
Gyro_cal
27 True 1
-0.0100348163396 Gyro_Offset 0 0
accelT2
28 True 3
0.000568101415411 7 0 0
-0.00406900653616 8 0 1
0.996777653694 9 0 2
accelT1
29 True 6
1.00308442116 1 0 0
-0.0166599340737 2 0 1
0.057370852679 3 0 2
0.0360062718391 4 0 3
1.00578808784 5 0 4
-0.0566854253411 6 0 5
gyroBias
30 True 3
0.00652803480625 X 0 0
-0.00419247383252 Y 0 1
-0.00771086430177 Z 0 2
accelBias
31 True 3
0.0347690582275 X 0 0
-0.00543880462646 Y 0 1
-0.321079730988 Z 0 2