48 lines
941 B
TOML
48 lines
941 B
TOML
|
|
||
|
|
|
||
|
|
|
||
|
|
tickrate = 6000.0
|
||
|
|
drone_tick_rate = 600
|
||
|
|
max_thrust = 2.6
|
||
|
|
max_torque = 0.5
|
||
|
|
mass = 0.350
|
||
|
|
|
||
|
|
# The Stack: First layer computes target speed, second layer computes motor torque
|
||
|
|
layers = [
|
||
|
|
# { type = "Angle", max_angle = 0.78, kp = [4.0, 4.0, 4.0], ki = [0.0, 0.0, 0.0], kd = [0.1, 0.1, 0.1] },
|
||
|
|
{ type = "Rate", max_rate = 3.14, kp = [
|
||
|
|
0.01,
|
||
|
|
0.1,
|
||
|
|
0.01,
|
||
|
|
], ki = [
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
], kd = [
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
] },
|
||
|
|
]
|
||
|
|
|
||
|
|
# + (map[0] * setpoint.x) // Roll
|
||
|
|
# + (map[1] * setpoint.y) // Yaw
|
||
|
|
# + (map[2] * setpoint.z); // Pitch
|
||
|
|
|
||
|
|
# /*
|
||
|
|
# * Motor position indices
|
||
|
|
# * ^ - Front
|
||
|
|
# * |
|
||
|
|
# * |
|
||
|
|
# * 1 --- 0
|
||
|
|
# * | |
|
||
|
|
# * | |
|
||
|
|
# * 2 --- 3
|
||
|
|
# */
|
||
|
|
motor_map = [
|
||
|
|
[-1.0, 1.0, 1.0], # Front Right
|
||
|
|
[1.0, -1.0, 1.0], # Front Left
|
||
|
|
[1.0, 1.0, -1.0], # Rear Left
|
||
|
|
[-1.0, -1.0, -1.0], # Rear Right
|
||
|
|
]
|