decreased safety sensitivity during takeoff

updated GettingStarted

Author: friether

MIT_MatlabToolbox/media/GettingStarted.pdf

@@ -162,7 +162,7 @@ static P_Drone_Compensator_T Drone_Compensator_P = {
       -5.6659197210460546, 5.6659197210460546, 5.6659197210460546,
       -5.6659197210460546, 5.6659197210460546, 5.6659197210460546,
       -5.6659197210460546 },
-    0.2,
+    0.12,
     0.92,
     0.32664221335170257
   },                                   /* Variable: controlHelperParams
@@ -1342,8 +1342,10 @@ void RSEDU_control(HAL_acquisition_t* hal_sensors_data, HAL_command_t* hal_senso
 
         //safety abort for high accelerations or position
         bool crash_detected;
-        if(!FEAT_NOSAFETY)
+	//NOSAFETY  disabled and after takeoff-cycles
+        if( (!FEAT_NOSAFETY) && (counter>(calibCycles + takeoffCycles)))
           crash_detected = (fabs(in->HAL_acc_SI.x) > MAX_ACCELL) || (fabs(in->HAL_acc_SI.y) > MAX_ACCELL) || (in->HAL_acc_SI.z > 0);
+	//If either NOSAFETY enabled or during takeoff, allow greater accelerations without shutting down
         else
           crash_detected = (fabs(in->HAL_acc_SI.x) > MAX_ACCELL * 3) || (fabs(in->HAL_acc_SI.y) > MAX_ACCELL * 3);
 

MIT_MatlabToolbox/trunk/embcode/rsedu_control.c

@@ -93,7 +93,7 @@
 controlHelperParams.Q2Ts = inv(controlHelperParams.Ts2Q); 
 
 %% Controllers (generic helpers)
-controlHelperParams.takeoff_gain                = 0.18;   %drone takes off with constant thrust x% above hover thrust
+controlHelperParams.takeoff_gain                = 0.12;   %drone takes off with constant thrust x% above hover thrust
 controlHelperParams.totalThrust_maxRelative     = 0.92;   %relative maximum total thrust that can be used for gaining altitude; rest is buffer for orientation control
 controlHelperParams.motorsThrustperMotor_max    = quadEDT.motors_max*quadEDT.motorcommandToW2_gain*quad.Ct*quad.rho*quad.A*quad.r^2;