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improve FBW

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This commit is contained in:
Joshua Davidson 2017-05-27 12:41:35 -04:00
parent 3389eb740f
commit 1e562b3baa
2 changed files with 19 additions and 19 deletions
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12
Systems/it-fbw-b.xml
View file

@ -106,7 +106,7 @@
<property>/controls/flight/aileron-fbw-cmd</property>
</output>
<config>
<Kp>0.12</Kp>
<Kp>0.14</Kp>
<beta>1</beta>
<alpha>0.1</alpha>
<gamma>0</gamma>
@ -247,12 +247,12 @@
<property>/controls/flight/elevator-fbw-cmd</property>
</output>
<config>
<Kp>-0.29</Kp>
<Kp>-0.25</Kp>
<beta>1</beta>
<alpha>0.1</alpha>
<gamma>0</gamma>
<Ti>5</Ti>
<Td>0.1</Td>
<Td>0.08</Td>
<u_min>-1</u_min>
<u_max>1</u_max>
</config>
@ -541,14 +541,14 @@
<property>/controls/flight/rudder-fbw-cmd</property>
</output>
<config>
<Kp>0.05</Kp>
<Kp>0.03</Kp>
<beta>1</beta>
<alpha>0.1</alpha>
<gamma>0</gamma>
<Ti>5.0</Ti>
<Td>0.00000001</Td>
<u_min>-0.4</u_min>
<u_max>0.4</u_max>
<u_min>-0.3</u_min>
<u_max>0.3</u_max>
</config>
</pid-controller>

26
Systems/it-fbw.xml
View file

@ -97,19 +97,19 @@
<table>
<independentVar lookup="row">/controls/flight/elevator-input</independentVar>
<tableData>
-1.0 0.1
-0.7 0.05
-0.5 0.02
-0.3 0.01
-0.15 0.005
-0.05 0.001
0.00 0.00
0.05 -0.001
0.15 -0.005
0.3 -0.01
0.5 -0.02
0.7 -0.05
1.0 -0.1
-1.0 0.075
-0.7 0.04
-0.5 0.015
-0.3 0.005
-0.15 0.0015
-0.05 0.00075
0.00 0.0000
0.05 -0.00075
0.15 -0.0015
0.3 -0.005
0.5 -0.015
0.7 -0.04
1.0 -0.075
</tableData>
</table>
</sum>