init

2025-06-16 11:36:21 +08:00
parent 2e9214ee4e
commit f7c8f108b3
18 changed files with 2280 additions and 41 deletions
--- a/missions/alder/ControlParam.json
+++ b/missions/alder/ControlParam.json
@@ -0,0 +1,43 @@
+{
+	"speed" : 
+	{
+		"Kp" : 10.0,
+		"Ki" : 5.0,
+		"Kd" : 0.0,
+		"LimitDelta" : 50,
+		"MaxOut" : 100,
+		"MinOut" : 0
+	},
+	"heading" :
+	{
+		"Kp" : 10.0,
+		"Ki" : 0.5,
+		"Kd" : 2.2,
+		"LimitDelta" : 5,
+		"MaxOut" : 30,
+		"MinOut" : -30
+	},
+	"depth" : 
+	{
+		"Kp" : 10.0,
+		"Ki" : 0.3,
+		"Kd" : 2.0,
+		"LimitDelta" : 5,
+		"MaxOut" : 10,    
+		"MinOut" : -10
+	},
+	"pitch" : 
+	{
+		"Kp" : 0.6,
+		"Ki" : 0.03,
+		"Kd" : 1.5,
+		"LimitDelta" : 5,
+		"MaxOut" : 30,
+		"MinOut" : -30
+	},
+	"const_thrust" : 0,
+	"dead_zone" : 10,
+	"speedCol" : true,
+	"depthCol" : true,
+	"HeadingCol" : true
+}