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vtol delta quad plane: adjusted default controller gains

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Signed-off-by: tumbili <roman@px4.io>
This commit is contained in:
tumbili
2016-06-29 13:28:27 +02:00
parent 57a665ad99
commit 036f42999a
1 changed files with 14 additions and 8 deletions
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ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta
+14 -8
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@@ -15,22 +15,28 @@ then
param set VT_MOT_COUNT 4
param set VT_TRANS_THR 0.75
param set MC_ROLL_P 7.0
param set MC_ROLL_P 6.5
param set MC_ROLLRATE_P 0.15
param set MC_ROLLRATE_I 0.002
param set MC_ROLLRATE_I 0.01
param set MC_ROLLRATE_D 0.003
param set MC_ROLLRATE_FF 0.0
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.12
param set MC_PITCHRATE_I 0.002
param set MC_PITCH_P 6.5
param set MC_PITCHRATE_P 0.15
param set MC_PITCHRATE_I 0.01
param set MC_PITCHRATE_D 0.003
param set MC_PITCHRATE_FF 0.0
param set MC_YAW_P 2.8
param set MC_YAW_P 3.5
param set MC_YAW_FF 0.5
param set MC_YAWRATE_P 0.22
param set MC_YAWRATE_I 0.02
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_FF 0.0
param set MC_YAWRATE_MAX 20
param set MC_YAWRAUTO_MAX 20
param set MPC_XY_P 0.8
param set MPC_XY_VEL_P 0.1
param set MPC_ACC_HOR_MAX 2.0
param set VT_MOT_COUNT 4
param set VT_IDLE_PWM_MC 1080