Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-24 07:09:48 +08:00
Code Issues Actions 5 Packages Projects Releases Wiki Activity

mc_rate_control: use vehicle_angular_acceleration topic instead of differentiating

Browse Source 
* mc_rate_control: use vehicle_angular_acceleration topic
* IMU_DGYRO_CUTOFF change default to 30 Hz
* improve IMU_DGYRO_CUTOFF param documentation (updated from MC_DTERM_CUTOFF)
This commit is contained in:
Daniel Agar
2020-03-12 15:07:03 -04:00
committed by GitHub
parent 2b03aa3d1b
commit 093e9ba1ce
19 changed files with 56 additions and 105 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
+1 -1
View File
@@ -53,7 +53,7 @@ then
param set IMU_GYRO_CUTOFF 40
param set MC_DTERM_CUTOFF 15
param set IMU_DGYRO_CUTOFF 15
param set MC_PITCHRATE_I 0.2
param set MC_PITCHRATE_MAX 60
param set MC_ROLLRATE_I 0.2
ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500
+1 -1
View File
@@ -18,7 +18,7 @@ set PWM_OUT 1234
if [ $AUTOCNF = yes ]
then
param set IMU_GYRO_CUTOFF 80
param set MC_DTERM_CUTOFF 40
param set IMU_DGYRO_CUTOFF 40
param set MC_ROLLRATE_P 0.14
param set MC_PITCHRATE_P 0.14
param set MC_ROLLRATE_I 0.3
ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
+1 -1
View File
@@ -66,7 +66,7 @@ then
param set MC_ACRO_SUPEXPO 0
param set MC_ACRO_SUPEXPOY 0
param set MC_ACRO_Y_MAX 150
param set MC_DTERM_CUTOFF 30
param set IMU_DGYRO_CUTOFF 30
param set MC_PITCHRATE_D 0.0015
param set MC_PITCHRATE_I 0.2
param set MC_PITCHRATE_K 1
ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
+1 -1
View File
@@ -29,7 +29,7 @@ then
param set CBRK_USB_CHK 197848
param set IMU_GYRO_CUTOFF 100
param set MC_DTERM_CUTOFF 60
param set IMU_DGYRO_CUTOFF 60
param set MC_AIRMODE 2
param set MC_PITCHRATE_D 0.0010
ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
+1 -1
View File
@@ -22,7 +22,7 @@ then
param set BAT_N_CELLS 4
param set IMU_GYRO_CUTOFF 120
param set MC_DTERM_CUTOFF 45
param set IMU_DGYRO_CUTOFF 45
param set MC_AIRMODE 1
param set MC_PITCHRATE_D 0.0012
ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2
+1 -1
View File
@@ -23,7 +23,7 @@ then
param set RC_PORT_CONFIG 201
param set IMU_GYRO_CUTOFF 120
param set MC_DTERM_CUTOFF 0
param set IMU_DGYRO_CUTOFF 0
param set MC_ROLLRATE_P 0.075
param set MC_ROLLRATE_I 0.25
ROMFS/px4fmu_common/init.d/airframes/4071_ifo
+2 -2
View File
@@ -60,7 +60,7 @@ then
param set RC_FLT_CUTOFF 0.00000
# Filter settings
param set MC_DTERM_CUTOFF 90.00000
param set IMU_DGYRO_CUTOFF 90.00000
param set IMU_GYRO_CUTOFF 100.00000
# Thrust curve (avoids the need for TPA)
@@ -106,7 +106,7 @@ then
# Filter settings
param set IMU_GYRO_CUTOFF 90.00000
param set MC_DTERM_CUTOFF 70.00000
param set IMU_DGYRO_CUTOFF 70.00000
# Don't try to be intelligent on RC loss: just cut the motors
param set NAV_RCL_ACT 6
ROMFS/px4fmu_common/init.d/airframes/4072_draco
+1 -1
View File
@@ -84,7 +84,7 @@ then
# Filter settings
param set IMU_GYRO_CUTOFF 90.00000
param set MC_DTERM_CUTOFF 100.00000
param set IMU_DGYRO_CUTOFF 100.00000
# Don't try to be intelligent on RC loss: just cut the motors
#param set NAV_RCL_ACT 6
ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie
+1 -1
View File
@@ -39,7 +39,7 @@ then
param set IMU_ACCEL_CUTOFF 30
param set MC_AIRMODE 1
param set MC_DTERM_CUTOFF 70
param set IMU_DGYRO_CUTOFF 70
param set MC_PITCHRATE_D 0.002
param set MC_PITCHRATE_I 0.2
param set MC_PITCHRATE_P 0.07
ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
+1 -1
View File
@@ -78,7 +78,7 @@ then
param set RC_FLT_CUTOFF 0.00000
# Filter settings
param set MC_DTERM_CUTOFF 90.00000
param set IMU_DGYRO_CUTOFF 90.00000
param set IMU_GYRO_CUTOFF 100.00000
# Thrust curve (avoids the need for TPA)