[Beetle] modified pid parameters

sugihara-16 · Dec 10, 2023 · a72f1ce · a72f1ce
1 parent db08f34
commit a72f1ce
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Showing 2 changed files with 14 additions and 13 deletions.
diff --git a/robots/beetle/config/BeetleControl.yaml b/robots/beetle/config/BeetleControl.yaml
@@ -8,7 +8,7 @@ controller:
   momentum_observer_force_weight: 3
   momentum_observer_torque_weight: 2.5
   wrench_estimate_flag: true
-  comp_term_update_freq: 20
+  comp_term_update_freq: 40
   wrench_comp_gain: 0.2
 
   pd_wrench_comp_mode: true
@@ -27,7 +27,7 @@ controller:
     d_gain: 5.0
     limit_sum: 4.0
     limit_p: 12.0
-    limit_i: 12.0
+    limit_i: 5.0
     limit_d: 12.0
 
   z:
@@ -37,7 +37,7 @@ controller:
     limit_err_p: 1.0
     limit_sum: 25.0 # N for clamping thrust force
     limit_p: 25.0
-    limit_i: 25.0
+    limit_i: 20.0
     limit_d: 25.0
     force_landing_descending_rate: -0.5
 
@@ -47,7 +47,7 @@ controller:
     d_gain: 15.0 #4~11
     limit_sum: 0.0
     limit_p: 20.0
-    limit_i: 20.0
+    limit_i: 10.0
     limit_d: 20.0
 
     start_rp_integration_height: 0.01
@@ -58,7 +58,7 @@ controller:
     d_gain: 12.0 #4~11
     limit_sum: 20.0
     limit_p: 20.0
-    limit_i: 20.0
+    limit_i: 10.0
     limit_d: 20.0
 
     start_rp_integration_height: 0.01
@@ -70,7 +70,7 @@ controller:
     limit_err_p: 0.4
     limit_sum: 20.0
     limit_p: 20.0
-    limit_i: 20.0
+    limit_i: 5.0
     limit_d: 20.0
 
     need_d_control: true
diff --git a/robots/beetle/config/BeetleControl_sim.yaml b/robots/beetle/config/BeetleControl_sim.yaml
@@ -3,12 +3,13 @@ aerial_robot_control_name: aerial_robot_control/beetle_controller
 controller:
   torque_allocation_matrix_inv_pub_interval: 0.05
   wrench_allocation_matrix_pub_interval: 0.1
-  gimbal_calc_in_fc : false
+  gimbal_calc_in_fc : true
+  i_term_rp_calc_in_pc: true
   wrench_estimate_update_rate: 100 
   momentum_observer_force_weight: 3
   momentum_observer_torque_weight: 2.5
   wrench_estimate_flag: true
-  comp_term_update_freq: 20
+  comp_term_update_freq: 40
   wrench_comp_gain: 0.2
 
   pd_wrench_comp_mode: true
@@ -26,7 +27,7 @@ controller:
     d_gain: 1.0
     limit_sum: 4.0
     limit_p: 12.0
-    limit_i: 12.0
+    limit_i: 5.0
     limit_d: 12.0
 
   z:
@@ -36,7 +37,7 @@ controller:
     limit_err_p: 1.0
     limit_sum: 25.0 # N for clamping thrust force
     limit_p: 25.0
-    limit_i: 25.0
+    limit_i: 20.0
     limit_d: 25.0
     force_landing_descending_rate: -0.5
 
@@ -46,7 +47,7 @@ controller:
     d_gain: 5.0 #4~11
     limit_sum: 20.0
     limit_p: 20.0
-    limit_i: 20.0
+    limit_i: 10.0
     limit_d: 20.0
 
     start_rp_integration_height: 0.01
@@ -57,7 +58,7 @@ controller:
     d_gain: 6.0 #4~11
     limit_sum: 20.0
     limit_p: 20.0
-    limit_i: 20.0
+    limit_i: 10.0
     limit_d: 20.0
 
     start_rp_integration_height: 0.01
@@ -69,7 +70,7 @@ controller:
     limit_err_p: 0.4
     limit_sum: 20.0
     limit_p: 20.0
-    limit_i: 20.0
+    limit_i: 5.0
     limit_d: 20.0
 
     need_d_control: true