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Default-Bebop2Power-Gains.txt
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Default-Bebop2Power-Gains.txt
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#------------
# Controllers
#------------
# Angles
gainsQuaternionSet =
(
"gainsQuaternionSetInitValue",
("Default", {
thetaKP = 264.7408; # [s-2]
thetaKI = 264.7408; # [s-3]
thetaKD = 33.0926; # [s-1]
thetaKDD = 0.5295; # No units
phiKP = 242.5376; # [s-2]
phiKI = 242.5376; # [s-3]
phiKD = 30.3349; # [s-1]
phiKDD = 0.4879; # No units
psiKP = 300.0; # [s-2]
psiKI = 0.0; # [s-3]
psiKD = 30.0; # [s-1]
psiKDD = 0.0; # No units
}),
("Flip", {
thetaKP = 264.7408; # [s-2]
thetaKI = 264.7408; # [s-3]
thetaKD = 33.0926; # [s-1]
thetaKDD = 0.5295; # No units
phiKP = 242.5376; # [s-2]
phiKI = 242.5376; # [s-3]
phiKD = 30.3349; # [s-1]
phiKDD = 0.4879; # No units
psiKP = 0.0; # [s-2]
psiKI = 0.0; # [s-3]
psiKD = 0.0; # [s-1]
psiKDD = 0.0; # No units
}),
("Rescue", {
thetaKP = 264.7408; # [s-2]
thetaKI = 264.7408; # [s-3]
thetaKD = 33.0926; # [s-1]
thetaKDD = 0.5295; # No units
phiKP = 242.5376; # [s-2]
phiKI = 242.5376; # [s-3]
phiKD = 30.3349; # [s-1]
phiKDD = 0.4879; # No units
psiKP = 0.0; # [s-2]
psiKI = 0.0; # [s-3]
psiKD = 11.0; # [s-1]
psiKDD = 0.0; # No units
})
);
# Speed
maxSpeedIntegral = [11.6667, 11.6667]; # [deg]