From 0e04e9ffa18a018724aa6eb67a0c9b7f6518b022 Mon Sep 17 00:00:00 2001 From: Henry Wurzburg Date: Mon, 20 Jan 2025 08:23:47 -0600 Subject: [PATCH] improve formatting of values for sysid axes --- .../source/docs/systemid-mode-operation.rst | 26 ++++++++++++++----- 1 file changed, 20 insertions(+), 6 deletions(-) diff --git a/copter/source/docs/systemid-mode-operation.rst b/copter/source/docs/systemid-mode-operation.rst index 94b014d20d..9f73dbc43b 100644 --- a/copter/source/docs/systemid-mode-operation.rst +++ b/copter/source/docs/systemid-mode-operation.rst @@ -63,12 +63,26 @@ The IMU chosen for this log is the same IMU used to generate the attitude predic Parameters ========== -:ref:`SID_AXIS`: Controls which axis and control loop injection point are being excited - -Values: 0:None (prevents entry into mode and display of other mode parameters), 1:Input Roll Angle, 2:Input Pitch Angle, 3:Input Yaw Angle, 4:Recovery Roll Angle, -5:Recovery Pitch Angle, 6:Recovery Yaw Angle, 7:Rate Roll, 8:Rate Pitch, 9:Rate Yaw, 10:Mixer Roll, -11:Mixer Pitch, 12:Mixer Yaw, 13:Mixer Thrust, 14:Measured Lateral Position, 15:Measured Longitudinal Position, -16:Measured Lateral Velocity, 17:Measured Longitudinal Velocity, 18:Input Lateral Velocity, 19:Input Longitudinal Velocity +:ref:`SID_AXIS`: Controls which axis and control loop injection point are being excited: + +===== =========== +Value Description +===== =========== +0 None (prevents entry into mode and display of other mode parameters) +1 Input Roll Angle +2 Input Pitch Angle +3 Input Yaw Angle +4 Recovery Roll Angle, +5 Recovery Pitch Angle +6 Recovery Yaw Angle +7 Rate Roll +8 Rate Pitch +9 Rate Yaw +10 Mixer Roll, +11 Mixer Pitch +12 Mixer Yaw +13 Mixer Thrust +===== =========== :ref:`SID_MAGNITUDE`: System identification Chirp Magnitude. Depending on the injection point, units will be in either deg, deg/s, 0-1 for mixer outputs, m/s for velocity, and m for position. The magnitude can be changed in flight easily using the :ref:`tuning knob` using the 58 option.