fix #216

toppers · May 14, 2024 · 775aaf4 · 775aaf4
1 parent d7d40e9
commit 775aaf4
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Showing 4 changed files with 13 additions and 42 deletions.
diff --git a/drone_api/sample/rc.py b/drone_api/sample/rc.py
@@ -81,6 +81,7 @@ def main():
     joystick.init()
     # connect to the HakoSim simulator
     client = hakosim.MultirotorClient(sys.argv[1])
+    client.default_drone_name = "DroneTransporter"
     client.confirmConnection()
     client.enableApiControl(True)
     client.armDisarm(True)

diff --git a/drone_control/common/include/flight_controller_types.hpp b/drone_control/common/include/flight_controller_types.hpp
@@ -21,10 +21,10 @@
  * Position Control
  */
 #define PID_PARM_POSX_Kp        1.5
-#define PID_PARM_POSX_Ki        0.3
+#define PID_PARM_POSX_Ki        0.01
 #define PID_PARM_POSX_Kd        2.0
 #define PID_PARM_POSY_Kp        1.5
-#define PID_PARM_POSY_Ki        0.3
+#define PID_PARM_POSY_Ki        0.01
 #define PID_PARM_POSY_Kd        2.0
 #define PID_PARAM_MAX_SPD       20.0
 #define POS_CONTROL_CYCLE      (SIMULATION_DELTA_TIME * 10) //33.3Hz
@@ -49,37 +49,15 @@
 /*
  * Speed Control
  */
-#ifdef RADIO_CONTROL_ON
-#define PID_PARAM_V_BASE      10.0
-#else
 #define PID_PARAM_V_BASE      10.0
-#endif
 #define PID_PARM_VX_Kp        PID_PARAM_V_BASE
-#ifdef RADIO_CONTROL_ON
 #define PID_PARM_VX_Ki        0.0
-#else
-#define PID_PARM_VX_Ki        0.1
-#endif
-#ifdef RADIO_CONTROL_ON
 #define PID_PARM_VX_Kd        PID_PARAM_V_BASE * 2
-#else
-#define PID_PARM_VX_Kd        PID_PARAM_V_BASE
-#endif
-#define PID_PARM_VY_Kp        PID_PARAM_V_BASE
-#ifdef RADIO_CONTROL_ON
+#define PID_PARM_VY_Kp        PID_PARAM_V_BASE * 2
 #define PID_PARM_VY_Ki        0.0
-#else
-#define PID_PARM_VY_Ki        0.1
-#endif
-#ifdef RADIO_CONTROL_ON
 #define PID_PARM_VY_Kd        PID_PARAM_V_BASE * 2
 #define PID_PARAM_MAX_ROLL    8
 #define PID_PARAM_MAX_PITCH   8
-#else
-#define PID_PARM_VY_Kd        PID_PARAM_V_BASE
-#define PID_PARAM_MAX_ROLL    5
-#define PID_PARAM_MAX_PITCH   5
-#endif
 #define SPD_CONTROL_CYCLE     (SIMULATION_DELTA_TIME * 10) //33.3Hz
 
 /*
@@ -91,26 +69,18 @@
 
 #define PID_PARM_ANGLE_BASE     40.0
 #define PID_PARM_ROLL_Kp        PID_PARM_ANGLE_BASE
-#ifdef RADIO_CONTROL_ON
 #define PID_PARM_ROLL_Ki        0.0
-#else
-#define PID_PARM_ROLL_Ki        0.1
-#endif
 #define PID_PARM_ROLL_Kd        PID_PARM_ANGLE_BASE
 #define PID_PARM_PITCH_Kp       PID_PARM_ANGLE_BASE
-#ifdef RADIO_CONTROL_ON
 #define PID_PARM_PITCH_Ki       0.0
-#else
-#define PID_PARM_PITCH_Ki       0.1
-#endif
 #define PID_PARM_PITCH_Kd       PID_PARM_ANGLE_BASE
 
-#define PID_PARM_ROLL_RATE_Kp     0.001
-#define PID_PARM_ROLL_RATE_Ki     0.0001
-#define PID_PARM_ROLL_RATE_Kd     0.001
-#define PID_PARM_PITCH_RATE_Kp    0.001
-#define PID_PARM_PITCH_RATE_Ki    0.0001
-#define PID_PARM_PITCH_RATE_Kd    0.001
+#define PID_PARM_ROLL_RATE_Kp     0.0045
+#define PID_PARM_ROLL_RATE_Ki     0.3
+#define PID_PARM_ROLL_RATE_Kd     0.0045
+#define PID_PARM_PITCH_RATE_Kp    0.0045
+#define PID_PARM_PITCH_RATE_Ki    0.3
+#define PID_PARM_PITCH_RATE_Kd    0.0045
 #define PID_PARM_YAW_RATE_Kp      0.01
 #define PID_PARM_YAW_RATE_Ki      0.001
 #define PID_PARM_YAW_RATE_Kd      0.01

diff --git a/hakoniwa/config/api_sample/drone_config_0.json b/hakoniwa/config/api_sample/drone_config_0.json
@@ -38,7 +38,7 @@
           "physicsEquation": "BodyFrame",
           "collision_detection": true,
           "manual_control": false,
-          "airFrictionCoefficient": [ 0.02, 0.0 ],
+          "airFrictionCoefficient": [ 0.05, 0.0 ],
           "inertia": [ 0.0000625, 0.00003125, 0.00009375 ],
           "mass_kg": 0.1,
           "body_size": [ 0.1, 0.1, 0.01 ],

diff --git a/hakoniwa/config/rc/drone_config_0.json b/hakoniwa/config/rc/drone_config_0.json
@@ -38,11 +38,11 @@
           "physicsEquation": "BodyFrame",
           "collision_detection": true,
           "manual_control": false,
-          "airFrictionCoefficient": [ 0.02, 0.0 ],
+          "airFrictionCoefficient": [ 0.05, 0.0 ],
           "inertia": [ 0.0000625, 0.00003125, 0.00009375 ],
           "mass_kg": 0.1,
           "body_size": [ 0.1, 0.1, 0.01 ],
-          "position_meter": [ 0, 0, 0 ],
+          "position_meter": [ 0, 5, 0 ],
           "angle_degree": [ 0, 0, 0 ]
         },
         "rotor": {