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Deployment ru34-20210208T2055
Pilot Notes
Loaded 11 est # ru34 # 2020/8/5 dkaragon initial # 2020/10/2 dkaragon removed fin safety max, maxed, preloaded pitch deadband # 2020/10/5 dkaragon trying 4 deg instead of 4 pitch deadband # 2020/10/15 dkaragon seems to be flying OK u_hd_fin_ap_run_time 12 but needs more fin so db back to .04 from .06, need more SBD to see how its doing on diff error needs more dgain it appears # 2020/10/24 dkaragon 1.5,.01,7 running great maybe just a touch more integrated .15 or .125 # 2020/12/11 dkaragon flying very well this last mission, leave heading deadband on, works well when its flying well. sensor: u_reqd_depth_at_surface(m) 2.15 sensor: u_hd_fin_ap_run_time(secs) 8 sensor: u_hd_fin_ap_gain(1/rad) 1.50 sensor: u_hd_fin_ap_igain(1/rad-sec) 0.015 sensor: u_hd_fin_ap_dgain(sec/rad) 6.00 sensor: u_hd_fin_ap_hardover_holdoff(sec) 30.0 #sensor: u_heading_deadband(rad) -1 #sensor: u_pitch_ap_deadband(rad) 0.07 # .07 = 4 deg # Slowing the pitch down - 10/7/20 took a quick look at ru34 dbd and it looks like defaults do well, it runs hot until about 6 m down and then starts doubling sensor: u_min_pitch_ap_period(sec) 2 # runs no faster sensor: u_max_pitch_ap_period(sec) 60 # runs at least this often
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