Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

记录尚未完成的任务 #7

Open
2 of 4 tasks
daisenryaku opened this issue Dec 29, 2017 · 2 comments
Open
2 of 4 tasks

记录尚未完成的任务 #7

daisenryaku opened this issue Dec 29, 2017 · 2 comments

Comments

@daisenryaku
Copy link

daisenryaku commented Dec 29, 2017 •
edited
Loading

  • 失控保护：收不到遥控信号一段时间后，自动缓慢降落
  • PWM最小值：飞行时输出给电机的PWM应该有最小值，防止突然下坠
  • PCB一个通道坏了
  • pid烤四轴前的测试，去掉注释
@daisenryaku daisenryaku changed the title 记录尚未完成的需求 记录尚未完成的任务 Dec 29, 2017
@xxyyttxx xxyyttxx mentioned this issue Dec 30, 2017
Closed
5 tasks
@daisenryaku
Copy link
Author

daisenryaku commented Dec 31, 2017 •
edited
Loading

控制算法调参：

单环PID：

  • 参数整定
  • 试飞

串级PID：

  • 用角速度来控YAW轴
  • 验证陀螺仪读数作为观测值
  • 内环参数整定
  • 外环参数整定
  • 第一次试飞
  • 第二次试飞
  • yaw轴读数滤波
  • 电调不能正常初始化
  • 加入磁力计解算yaw
  • 角度环控制yaw
  • 起飞不水平导致往一个方向上偏

@xxyyttxx
Copy link

xxyyttxx commented Jan 1, 2018 •
edited
Loading

  • 移植到µC/OS上

四元数AHRS姿态解算和IMU姿态解算分析

  • HMC5883 每次读数都要重新配置模式寄存器。
  • YAW角度环期望一开始会有+180˚的偏差。
  • 内环误差原因：陀螺仪受震动影响导致角速度观测误差
  • 外环误差不能归零...

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
2 participants
@daisenryaku @xxyyttxx