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h4. RC control |
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* Thrust and steering mapped to right stick |
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* Serial enable mapped to G switch, pull towards you to enable RC. |
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* Motor on/off mapped to A switch, on in up position. |
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Battery cutoffs
h4. Battery cutoffs * 11.2 volts \--> 20% thrust |
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* 10.6 volts \--> 0% thrust |
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* 11.8 volts to reset to 100% |
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Gains and Offsets
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thrust h4. Gains and Offsets Default rudder offsets are inherited from soft_config and are updated periodically. |
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Offsets from running depth sounder + modem hanging opposite for William's experiments (PID: \[ 0.45, 0, 0, 0 \]. The following rudder offsets are set to compensate for the drag of the modem, which was hung from one side opposite the depth sounder. |
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* Nostromo: \-12 |
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* Silvana: 14 |
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* Kestrel: |
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15 From Nostromo's bathymetry survey without modem, PID at \[ 0.3, 0.6, 0.025, 1000 \]. For kestrel and silvana with the cruzpro depth sounder, a rudder offset of \-6 and the same gains worked well. |
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{code |
} uPokeDB targ_KESTREL.moos YAW_PID_KP=0.3 YAW_PID_KD=0.6 YAW_PID_KI=0.015 YAW_PID_INTEGRAL_LIMIT=750 {code} |