config_npiduo.ini

# THE BIG PROJECT
# Configuration file

# Stability Controller
  # Core isolation
    STABILITY_CONTROLLER_CORE = 3
  # Timing (ms)
    TIME_TO_COMPUTE     = 2500
    TIME_TO_UPDATEMOTOR = 5000
    TIME_TO_ARM         = 3000000
  # PID controller
    I_THROTTLE_TRIGGER  = 1.5
    PD_THROTTLE_TRIGGER = 1.3
    # Yaw
      YAW_PA  = 2.0
      YAW_P   = 0.4
      YAW_I   = 0
      YAW_D   = 0
    # Roll
      ROLL_PA = 5.2
      ROLL_P  = 0.04
      ROLL_I  = 0
      ROLL_D  = 0
    # Pitch
      PITCH_PA  = 5.2
      PITCH_P   = 0.05
      PITCH_I   = 0
      PITCH_D   = 0

# Interface
  # Timing (ms)
    TIME_TO_GET_RCUSB   = 20000
    TIME_TO_ROS_PUBLISH = 100000
    TIME_TO_ROS_SPIN    = 50000
  # Interface communication calibration
    CH_THROTTLE_MIN_CALIBRATE = 1.06
    CH_THROTTLE_MAX_CALIBRATE = 1.896
    CH_PITCH_CALIBRATE        = 1.48
    CH_ROLL_CALIBRATE         = 1.468
    CH_YAW_CALIBRATE          = 1.478
    CH_GEAR_CALIBRATE         = 1.5

# Other settings
  MODE                    = 0
  IMU_DEVICE              = /dev/spidev1.0
  PWM_DEVICE              = /dev/i2c-0
  RC_DEVICE               = /dev/ttyS1
  # Pins like MOTOR_EN and LED use linux pin numbering
  MOTOR_EN                = 203
  LED                     = 363
  ID                      = 4745
  DEBUG                   = True
  TIME_TO_DEBUG_DISPLAY   = 1000000
  CH_PITCH_VARIANCE       = 0.016
  CH_ROLL_VARIANCE        = 0.016
  CH_YAW_VARIANCE         = 0.016
  CH_PITCH_CALIBRATE_ROS  = 0
  CH_ROLL_CALIBRATE_ROS   = 0.1
  CH_YAW_CALIBRATE_ROS    = 0