Merge pull request #240 from rosflight/doc_v1.0

Documentation for v1.0
rosflight · Aug 11, 2017 · e4c1880 · e4c1880
2 parents bc7c258 + 1bd3125
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diff --git a/boards/naze/lib/breezystm32 b/boards/naze/lib/breezystm32
diff --git a/docs/user-guide/hardware-setup.md b/docs/user-guide/hardware-setup.md
@@ -34,12 +34,11 @@ ROSflight is best supported on the flip32+ from [readytoflyquads.com](http://www
 
 Additional Sensors you may want for your ROSflight setup include:
 
-* Sonar – MB1242 – [$40 on MaxBotix](http://www.maxbotix.com/Ultrasonic_Sensors/MB1242.htm)
-* GPS – Venus GPS – [$50 on Sparkfun](https://www.sparkfun.com/products/11058)
-    - Requires FTDI USB-UART Converter – [$6 on Amazon](https://www.amazon.com/Blue3D-Ft232rl-Serial-Adapter-Arduino/dp/B012YUANZK/ref=sr_1_9?ie=UTF8&qid=1490068223&sr=8-9&keywords=FTDI+USB+converter)
-    - and Ceramic Antenna [$12 on Sparkfun](https://www.sparkfun.com/products/177)
+* Sonar – MB1030 – [$25 on MaxBotix](https://www.maxbotix.com/Ultrasonic_Sensors/MB1030.htm)
+* GPS – u-blox NEO-M8N – [$35 from Drotek](https://drotek.com/shop/en/511-ublox-neo-m8-gps-module.html)
 * Digital Airspeed Sensor – [$65 on JDrones](http://store.jdrones.com/digital_airspeed_sensor_p/senair02kit.html)
 
+The I2C sonar (MB124X) is also supported, but PWM sonars are preferred.
 
 ## Vibration Isolation
 
@@ -93,20 +92,25 @@ Your needs will likely be slightly different than what is shown.  This is meant
 
 # Motor layouts
 
-We currently support 5 mixer types.  The desired mixer can be chosen by setting the the "MIXER" parameter to the following values:
+The desired mixer can be chosen by setting the the "MIXER" parameter to the following values:
 
-| mixer | value |
-|-----------------|-------|
-| Quadctoper-Plus | 0 |
-| Quadcopter-X | 1 |
-| Y6 | 2 |
-| X8 | 3 |
-| Fixed Wing | 4 |
+| # | Mixer |
+|---|---------|
+| 0 | ESC calibration |
+| 1 | Quad + |
+| 2 | Quad X |
+| 3 | Hex + |
+| 4 | Hex X |
+| 5 | Octo + |
+| 6 | Octo X |
+| 7 | Y6 |
+| 8 | X8 |
+| 9 | Tricopter |
+| 10 | Fixed wing (traditional AETR) |
 
-The associated motor layouts are shown below for each mixer
+The associated motor layouts are shown below for each mixer.
+The _ESC calibration_ mixer outputs the throttle command equally to each motor, and can be used for calibrating the ESCs.
 
-![Mixer_1](images/mixer_1.png)
+![Mixer_1](images/mixers_1.png)
 
-![Mixer_2](images/mixer_2.png)
-
-![Mixer_3](images/mixer_3.png)
+![Mixer_2](images/mixers_2.png)
diff --git a/docs/user-guide/images/Wiring_Diagram.png b/docs/user-guide/images/Wiring_Diagram.png
diff --git a/docs/user-guide/images/mixer_1.png b/docs/user-guide/images/mixer_1.png
diff --git a/docs/user-guide/images/mixer_2.png b/docs/user-guide/images/mixer_2.png
diff --git a/docs/user-guide/images/mixer_3.png b/docs/user-guide/images/mixer_3.png
diff --git a/docs/user-guide/images/mixers_1.png b/docs/user-guide/images/mixers_1.png
diff --git a/docs/user-guide/images/mixers_2.png b/docs/user-guide/images/mixers_2.png
diff --git a/docs/user-guide/parameter-configuration.md b/docs/user-guide/parameter-configuration.md
@@ -97,10 +97,7 @@ Because ROSflight ships with default parameters for multirotors, you will probab
 
 # Description of all Parameters
 
-This is a list of all parameters on ROSflight, their types, default values, and minimum and maximum recommended setting.
-
-
-# Parameter descriptions
+This is a list of all parameters on ROSflight, their types, default values, and minimum and maximum recommended setting:
 
 | Parameter | Description | Type | Default Value | Min | Max |
 |-----------|-------------|------|---------------|-----|-----|
@@ -128,10 +125,10 @@ This is a list of all parameters on ROSflight, their types, default values, and
 | PID_YAW_RATE_D | Yaw Rate Derivative Gain | float |  0.0f | 0.0 | 1000.0 |
 | PID_ROLL_ANG_P | Roll Angle Proporitional Gain | float |  0.15f | 0.0 | 1000.0 |
 | PID_ROLL_ANG_I | Roll Angle Integral Gain | float |  0.0f | 0.0 | 1000.0 |
-| PID_ROLL_ANG_D | Roll Angle Derivative Gain | float |  0.07f | 0.0 | 1000.0 |
+| PID_ROLL_ANG_D | Roll Angle Derivative Gain | float |  0.05f | 0.0 | 1000.0 |
 | PID_PITCH_ANG_P | Pitch Angle Proporitional Gain | float |  0.15f | 0.0 | 1000.0 |
 | PID_PITCH_ANG_I | Pitch Angle Integral Gain | float |  0.0f | 0.0 | 1000.0 |
-| PID_PITCH_ANG_D | Pitch Angle Derivative Gain | float |  0.07f | 0.0 | 1000.0 |
+| PID_PITCH_ANG_D | Pitch Angle Derivative Gain | float |  0.05f | 0.0 | 1000.0 |
 | X_EQ_TORQUE | Equilibrium torque added to output of controller on x axis | float |  0.0f | -1.0 | 1.0 |
 | Y_EQ_TORQUE | Equilibrium torque added to output of controller on y axis | float |  0.0f | -1.0 | 1.0 |
 | Z_EQ_TORQUE | Equilibrium torque added to output of controller on z axis | float |  0.0f | -1.0 | 1.0 |
@@ -143,8 +140,8 @@ This is a list of all parameters on ROSflight, their types, default values, and
 | MOTOR_MAX_PWM | PWM value sent to motor ESCs at full throttle | int |  2000 | 1000 | 2000 |
 | ARM_SPIN_MOTORS | Enforce MOTOR_IDLE_THR | int |  true | 0 | 1 |
 | FILTER_INIT_T | Time in ms to initialize estimator | int |  3000 | 0 | 100000 |
-| FILTER_KP | estimator proportional gain - See estimator documentation | float |  2.0f | 0 | 10.0 |
-| FILTER_KI | estimator integral gain - See estimator documentation | float |  0.2f | 0 | 1.0 |
+| FILTER_KP | estimator proportional gain - See estimator documentation | float |  0.5f | 0 | 10.0 |
+| FILTER_KI | estimator integral gain - See estimator documentation | float |  0.05f | 0 | 1.0 |
 | FILTER_QUAD_INT | Perform a quadratic averaging of LPF gyro data prior to integration (adds ~20 us to estimation loop on F1 processors) | int |  1 | 0 | 1 |
 | FILTER_MAT_EXP | 1 - Use matrix exponential to improve gyro integration (adds ~90 us to estimation loop in F1 processors) 0 - use euler integration | int |  1 | 0 | 1 |
 | FILTER_USE_ACC | Use accelerometer to correct gyro integration drift (adds ~70 us to estimation loop) | int |  1 | 0 | 1 |
@@ -198,7 +195,7 @@ This is a list of all parameters on ROSflight, their types, default values, and
 | RC_MAX_ROLLRATE | Maximum roll rate command sent by full stick deflection of RC sticks | float |  3.14159f | 0.0 | 9.42477796077 |
 | RC_MAX_PITCHRATE | Maximum pitch command sent by full stick deflection of RC sticks | float |  3.14159f | 0.0 | 3.14159 |
 | RC_MAX_YAWRATE | Maximum pitch command sent by full stick deflection of RC sticks | float |  1.507f | 0.0 | 3.14159 |
-| MIXER | Which mixer to choose - See Mixer documentation | int |  Mixer::INVALID_MIXER | 0 | 5 |
+| MIXER | Which mixer to choose - See Mixer documentation | int | 255 | 0 | 10 |
 | FIXED_WING | switches on passthrough commands for fixedwing operation | int |  false | 0 | 1 |
 | ELEVATOR_REV | reverses elevator servo output | int |  0 | 0 | 1 |
 | AIL_REV | reverses aileron servo output | int |  0 | 0 | 1 |

diff --git a/include/mixer.h b/include/mixer.h
@@ -177,15 +177,15 @@ class Mixer
     { 1.0f,  1.0f, -1.0f, -1.0f, -1.0f, -1.0f,  1.0f,  1.0f}, // Y Mix
     { 1.0f, -1.0f,  1.0f, -1.0f,  1.0f, -1.0f,  1.0f, -1.0f}  // Z Mix
   };
-  
+
   const mixer_t tricopter_mixing =
   {
     {M, M, M, S, NONE, NONE, NONE, NONE}, // output_type
 
-    { 1.0f,   1.0f,    1.0f,   0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
-    {-1.0f,   0.0f,    1.0f,   0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
-    { 0.667f, 0.667f, -1.333f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
-    { 0.0f,   0.0f,    0.0f,   1.0f, 0.0f, 0.0f, 0.0f, 0.0f}  // Z Mix
+    { 1.0f,   0.0f, 1.0f,    1.0f,   0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
+    {-1.0f,   0.0f, 0.0f,    1.0f,   0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
+    { 0.667f, 0.0f, 0.667f, -1.333f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
+    { 0.0f,   1.0f, 0.0f,    0.0f,   0.0f, 0.0f, 0.0f, 0.0f}  // Z Mix
   };
 
   const mixer_t fixedwing_mixing =

diff --git a/src/param.cpp b/src/param.cpp
@@ -137,11 +137,11 @@ void Params::set_defaults(void)
 
   init_param_float(PARAM_PID_ROLL_ANGLE_P, "PID_ROLL_ANG_P", 0.15f);   // Roll Angle Proporitional Gain | 0.0 | 1000.0
   init_param_float(PARAM_PID_ROLL_ANGLE_I, "PID_ROLL_ANG_I", 0.0f);   // Roll Angle Integral Gain | 0.0 | 1000.0
-  init_param_float(PARAM_PID_ROLL_ANGLE_D, "PID_ROLL_ANG_D", 0.07f);  // Roll Angle Derivative Gain | 0.0 | 1000.0
+  init_param_float(PARAM_PID_ROLL_ANGLE_D, "PID_ROLL_ANG_D", 0.05f);  // Roll Angle Derivative Gain | 0.0 | 1000.0
 
   init_param_float(PARAM_PID_PITCH_ANGLE_P, "PID_PITCH_ANG_P", 0.15f);  // Pitch Angle Proporitional Gain | 0.0 | 1000.0
   init_param_float(PARAM_PID_PITCH_ANGLE_I, "PID_PITCH_ANG_I", 0.0f);  // Pitch Angle Integral Gain | 0.0 | 1000.0
-  init_param_float(PARAM_PID_PITCH_ANGLE_D, "PID_PITCH_ANG_D", 0.07f); // Pitch Angle Derivative Gain | 0.0 | 1000.0
+  init_param_float(PARAM_PID_PITCH_ANGLE_D, "PID_PITCH_ANG_D", 0.05f); // Pitch Angle Derivative Gain | 0.0 | 1000.0
 
   init_param_float(PARAM_X_EQ_TORQUE, "X_EQ_TORQUE", 0.0f); // Equilibrium torque added to output of controller on x axis | -1.0 | 1.0
   init_param_float(PARAM_Y_EQ_TORQUE, "Y_EQ_TORQUE", 0.0f); // Equilibrium torque added to output of controller on y axis | -1.0 | 1.0
@@ -164,8 +164,8 @@ void Params::set_defaults(void)
   /*** ESTIMATOR CONFIGURATION ***/
   /*******************************/
   init_param_int(PARAM_INIT_TIME, "FILTER_INIT_T", 3000); // Time in ms to initialize estimator | 0 | 100000
-  init_param_float(PARAM_FILTER_KP, "FILTER_KP", 2.0f); // estimator proportional gain - See estimator documentation | 0 | 10.0
-  init_param_float(PARAM_FILTER_KI, "FILTER_KI", 0.2f); // estimator integral gain - See estimator documentation | 0 | 1.0
+  init_param_float(PARAM_FILTER_KP, "FILTER_KP", 0.5f); // estimator proportional gain - See estimator documentation | 0 | 10.0
+  init_param_float(PARAM_FILTER_KI, "FILTER_KI", 0.05f); // estimator integral gain - See estimator documentation | 0 | 1.0
 
   init_param_int(PARAM_FILTER_USE_QUAD_INT, "FILTER_QUAD_INT", 1); // Perform a quadratic averaging of LPF gyro data prior to integration (adds ~20 us to estimation loop on F1 processors) | 0 | 1
   init_param_int(PARAM_FILTER_USE_MAT_EXP, "FILTER_MAT_EXP", 1); // 1 - Use matrix exponential to improve gyro integration (adds ~90 us to estimation loop in F1 processors) 0 - use euler integration | 0 | 1
@@ -237,7 +237,7 @@ void Params::set_defaults(void)
   /***************************/
   /*** FRAME CONFIGURATION ***/
   /***************************/
-  init_param_int(PARAM_MIXER, "MIXER", Mixer::INVALID_MIXER); // Which mixer to choose - See Mixer documentation | 0 | 5
+  init_param_int(PARAM_MIXER, "MIXER", Mixer::INVALID_MIXER); // Which mixer to choose - See Mixer documentation | 0 | 10
 
   init_param_int(PARAM_FIXED_WING, "FIXED_WING", false); // switches on passthrough commands for fixedwing operation | 0 | 1
   init_param_int(PARAM_ELEVATOR_REVERSE, "ELEVATOR_REV", 0); // reverses elevator servo output | 0 | 1