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MC: default MC_YAWRATE_I changed for all setups, navigator: increase yaw acceptance to 0.2rad ~ 11deg

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Anton Babushkin
2014-04-04 12:33:02 +04:00
parent 0205eebaa6
commit 183a0cdb22
7 changed files with 7 additions and 7 deletions
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ROMFS/px4fmu_common/init.d/10015_tbs_discovery
+1 -1
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@@ -20,7 +20,7 @@ then
param set MC_PITCHRATE_D 0.0025
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.28
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
fi
ROMFS/px4fmu_common/init.d/10016_3dr_iris
+1 -1
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@@ -20,7 +20,7 @@ then
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 0.5
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
param set BAT_V_SCALING 0.00989
ROMFS/px4fmu_common/init.d/4008_ardrone
+1 -1
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@@ -24,7 +24,7 @@ then
param set MC_PITCHRATE_D 0.0
param set MC_YAW_P 1.0
param set MC_YAWRATE_P 0.15
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_I 0.05
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.15
param set BAT_V_SCALING 0.00838095238
ROMFS/px4fmu_common/init.d/4010_dji_f330
+1 -1
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@@ -19,7 +19,7 @@ then
param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
fi
ROMFS/px4fmu_common/init.d/4011_dji_f450
+1 -1
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@@ -20,7 +20,7 @@ then
param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
fi
ROMFS/px4fmu_common/init.d/rc.mc_defaults
+1 -1
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@@ -14,7 +14,7 @@ then
param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.5
src/modules/navigator/navigator_main.cpp
+1 -1
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@@ -1539,7 +1539,7 @@ Navigator::check_mission_item_reached()
/* check yaw if defined only for rotary wing except takeoff */
float yaw_err = _wrap_pi(_mission_item.yaw - _global_pos.yaw);
if (fabsf(yaw_err) < 0.05f) { /* XXX get rid of magic number */
if (fabsf(yaw_err) < 0.2f) { /* XXX get rid of magic number */
_waypoint_yaw_reached = true;
}