Configs

The NG Configurations

Introduction

Different Controllers need to be able to have different configuration parameters. To allow this, the NGOS has two types of configuration parameters, global parameters and controller dependent parameters. Both can be used with the same commands and some Controllers share parameters with other ones if the parameter represents the same variable.

Global Configuration Parameters

The Global Configuration Parameters are the same for all possible Controllers. They represent global variables which can be only changed by the user. The parameters can be viewed with the command show globals. The value of the parameters can be changed using the command set <var> <val>.

The output of the show globals parameters looks similar to this:

. {{{

show globals

Current global configuration:

Name UAVP Configuration name

RC.ch.throttle 0 RC channel throttle RC.ch.nick 2 RC channel nick RC.ch.roll 1 RC channel roll RC.ch.yaw 3 RC channel yaw RC.ch.pot0 8 RC channel pot0 RC.ch.pot1 4 RC channel pot1 RC.ch.pot2 6 RC channel pot2 RC.ch.pot3 5 RC channel pot3 RC.ch.pot4 7 RC channel pot4 RC.ch.pot5 9 RC channel pot5 RC.ch.pot6 10 RC channel pot6 RC.ch.pot7 11 RC channel pot7

RC.mode 2 RC stick mode

BAT.minimum 9.80000019 Battery minimum voltage BAT.offset 0.00000000 Battery offset voltage

TERM.mode user Terminal mode

HW.HAL none HW HAL to use

HW.uart0.bootmsg yes HW boot messages on UART0 HW.uart1.bootmsg yes HW boot messages on UART1

HW.uart0.baud 115200 HW baud rate for UART0 HW.uart1.baud 115200 HW baud rate for UART1

HW.uart0.format 8N1 HW format for UART0 HW.uart1.format 8N1 HW format for UART1

HW.uart0.mode auto HW mode for UART0 HW.uart1.mode auto HW mode for UART1

HW.gyro.type ADXR300 HW gyro type HW.gyro.scale.N 1000 HW gyro N scaling HW.gyro.scale.R 1000 HW gyro R scaling HW.gyro.scale.Y 1000 HW gyro Y scaling HW.acc.horizontal yes HW acc mount orientation HW.compass.inverted no HW compass upside down HW.compass.corr 0 HW correct compass heading HW.actor.init 0 HW number of actors

HW.use.sound inverted HW do use sound device HW.use.acc yes HW do use accelerometer HW.use.baro yes HW do use barometer HW.use.ngpp yes HW do use NG peripherial protocol (may need NGPP) HW.use.gps yes HW do use Global Positioning System (may need NGPP) HW.use.compass yes HW do use compass (may need NGPP)

CTRL.use.dtc yes CTRL do use dynamic throttle control CTRL.use.PT1.comp no CTRL do use PT1 compensation

CTRL.PT1.comp.k1 800 CTRL PT1 parameter K1 CTRL.PT1.comp.t1.down 148 CTRL PT1 parameter T1 down CTRL.PT1.comp.t1.up 148 CTRL PT1 parameter T1 up

CTRL.rate.limit no CTRL do angular rate limit

CAL.Ncorr 0 CAL nick angle correction CAL.Rcorr 0 CAL roll angle correction

CAL.hmc.offset.X 0 HW HMC5883L X Offset CAL.hmc.offset.Y 0 HW HMC5883L Y Offset CAL.hmc.offset.Z 0 HW HMC5883L Z Offset CAL.hmc.range.X 32767 HW HMC5883L X Range CAL.hmc.range.Y 32767 HW HMC5883L Y Range CAL.hmc.range.Z 32767 HW HMC5883L Z Range

ACC.nickcal 0 Nick Acc calibration ACC.rollcal 0 Roll Acc calibration ACC.yawcal 0 Yaw Acc calibration

ACC.nickcorr 0 Nick Acc correction ACC.rollcorr 0 Roll Acc correction ACC.yawcorr 0 Yaw Acc correction

RC.sum.jitter 16 RC sum jitter range RC.yaw.jitter 32 RC yaw jitter range RC.show.drops no RC show frame drops

RC.dev.primary rcsum RC primary input device RC.dev.secondary rcsum RC secondary input device RC.dev.mix primary RC device mixing type }}}

Controller Dependent Parameters

Each Controller has associated Controller Dependent Parameters. Some of them are shared between controllers because they represent the same parameters, some are not. They represent configuration parameters used by the currently configured Controller and affect the closed-loop control algorithm implemented by that Controller. The parameters of the currently configured controller can be viewed with the command show conf.

The output of the show conf parameters may look similar to this (when using the amir controller):

# show conf

Current controller configuration:

  Controller           amir                Closed-loop controller

  T.idle               20                  Throttle idle speed
  T.reserve            20                  Throttle control reserve
  T.spinup             2                   Throttle spinup time (sec)

  P.nick               80                  Nick proportional factor
  P.roll               80                  Roll proportional factor
  P.yaw                200                 Yaw proportional factor

  D.nick               70                  Nick differential factor
  D.roll               70                  Roll differential factor
  D.yaw                70                  Yaw differential factor

  I.nick               35                  Nick integral factor
  I.roll               35                  Roll integral factor
  I.yaw                0                   Yaw integral factor

  ACC.valid            125                 Allowed ACC divergence from (1000mg)^2

  Kalman.Angle.Q       0.00030000          Kalman angle process var
  Kalman.Bias.Q        0.00010000          Kalman bias process var
  Kalman.Acc.R         3.00000000          Kalman system var
  Kalman.Cycle         1                   Kalman update intervall
  Kalman.Limit         1                   Kalman gyro stationary limit

  P.z                  1950                Height proportional factor
  D.z                  5000                Height differential factor
  I.z                  0                   Height integral factor

  P.z.limit            20                  Height correction limiter
  P.z.upfact           28                  Upwards height correction (%)

  Z.Kalman.L1          1.29170001          Height Kalman-Bucy L1 factor
  Z.Kalman.L2          0.83420002          Height Kalman-Bucy L2 factor
  Z.Kalman.L3          -0.26930001         Height Kalman-Bucy L3 factor

  CTRL.use.acc         yes                 CTRL do use accelerometer
  CTRL.use.compass     no                  CTRL do use compass (needs NGPP)

  RC.throttlehover     -1600               RC hover throttle

  RC.fact.nick         40                  RC stick factor nick
  RC.fact.roll         40                  RC stick factor roll
  RC.fact.yaw          50                  RC stick factor yaw

  Axis.decoupling      yes                 Axis decoupling

How to use different configurations

The different configurations can be configured on the NG Shells. Each controller will have its own controller dependant configuration variables. Some of them are shared between controllers because they represent the same parameters, some are not. Switching to a Controller also switches to its associated controller dependent configuration parameters.

The needed Shell Commands

The Global Configuration Parameters can be viewed using the command show globals. The parameters of the Controller Dependent Parameters can be viewed with the command show conf after having choosen a controller using the command ‘set controller <ctrl>’.

The command set controller <ctrl> configures the currently used closed-loop controller amd switches to its associated controller dependent configuration parameters.

The values of the parameters can be changed with the command set <var> <val>. For controller dependent integer parameters there’s a second command called edit <var>.

The global and and controller dependent parameters can be stored with the command conf store [<slot>] and loaded with the command conf load [<slot>]. The commands always store global parameters, configured controller and all controller dependent variables in one slot.

Behavior triggered Configuration Change

There exists a behavior action which can change the configured controller. It is called ctrl.switch.conf(x). It can switch to the next or the previous configuration or to a specific one.