most functionality to splashdwon, find neutral and start mission. short timeouts still in code for testing, will adjust to go directly to sit_idle after splashdown
Dependencies: mbed MODSERIAL FATFileSystem
pitch.txt@13:84fcbe1dcd62, 2017-10-30 (annotated)
- Committer:
- tnhnrl
- Date:
- Mon Oct 30 21:09:19 2017 +0000
- Revision:
- 13:84fcbe1dcd62
- Parent:
- 10:085ab7328054
- Child:
- 15:2a8cfd3f1cf5
Tested hardware for bce and made several pause fixes. Homing works. Added offset to pitch and depth.txt files, and the control loop works. PID gain for depth had to be negative. Next is to replace the motor and test pitch loop.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tnhnrl | 13:84fcbe1dcd62 | 1 | # configuration file for pitch outer loop parameters |
danstrider | 10:085ab7328054 | 2 | |
danstrider | 10:085ab7328054 | 3 | #Gains |
danstrider | 10:085ab7328054 | 4 | PGain=0.1 |
danstrider | 10:085ab7328054 | 5 | IGain=0.0 |
danstrider | 10:085ab7328054 | 6 | DGain=0.0 |
danstrider | 10:085ab7328054 | 7 | |
tnhnrl | 13:84fcbe1dcd62 | 8 | #Depth sensor filter parameters |
danstrider | 10:085ab7328054 | 9 | filterWn=6.0 |
danstrider | 10:085ab7328054 | 10 | deadband=0.5 |
tnhnrl | 13:84fcbe1dcd62 | 11 | |
tnhnrl | 13:84fcbe1dcd62 | 12 | #Offset for neutral |
tnhnrl | 13:84fcbe1dcd62 | 13 | zeroOffset=35 |