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@15:2a8cfd3f1cf5, 2017-10-31 (annotated)
- Committer:
- danstrider
- Date:
- Tue Oct 31 22:19:20 2017 +0000
- Revision:
- 15:2a8cfd3f1cf5
- Parent:
- 13:84fcbe1dcd62
- Child:
- 21:38c8544db6f4
POOL TESTED! Tuned PID gains, put in depth/pitch files. Added keyboard tuning of neutral positions since FIND_NEUTRAL won't work right. Only suggested FSM change is for DIVE to timeout to RISE, rather than EMERGENCY_CLIMB.
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 | 15:2a8cfd3f1cf5 | 4 | PGain=-0.5 |
danstrider | 10:085ab7328054 | 5 | IGain=0.0 |
danstrider | 15:2a8cfd3f1cf5 | 6 | DGain=-0.25 |
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 |
danstrider | 15:2a8cfd3f1cf5 | 13 | zeroOffset=41 |