Mirrors_Framework/PX4-Autopilot
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IFO-S parameter updated.

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This commit is contained in:
Hyon Lim
2020-03-25 20:10:45 +09:00
committed by Daniel Agar
parent 15f997d337
commit 1a23b7c609
1 changed files with 25 additions and 13 deletions
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ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
+25 -13
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@@ -41,7 +41,6 @@ then
param set MC_YAWRATE_P 0.2 param set MC_YAWRATE_P 0.2
#param set MC_YAWRATE_I 0.15 #param set MC_YAWRATE_I 0.15
param set MC_YAWRATE_D 0.0 param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.5
#param set MC_ROLL_TC 0.19 #param set MC_ROLL_TC 0.19
#param set MC_PITCH_TC 0.16 #param set MC_PITCH_TC 0.16
@@ -51,7 +50,6 @@ then
#param set MC_PITCHRATE_MAX 1600.00000 #param set MC_PITCHRATE_MAX 1600.00000
#param set MC_ROLLRATE_MAX 1600.00000 #param set MC_ROLLRATE_MAX 1600.00000
#param set MC_YAWRATE_MAX 700.00000 #param set MC_YAWRATE_MAX 700.00000
param set MPC_MANTHR_MAX 0.90000
param set MPC_MANTHR_MIN 0.08000 param set MPC_MANTHR_MIN 0.08000
#param set MPC_MAN_TILT_MAX 35.0000 #param set MPC_MAN_TILT_MAX 35.0000
#param set MPC_TILTMAX_AIR 20.0000 #param set MPC_TILTMAX_AIR 20.0000
@@ -60,16 +58,15 @@ then
param set RC_FLT_CUTOFF 0.00000 param set RC_FLT_CUTOFF 0.00000
# Filter settings # Filter settings
param set MC_DTERM_CUTOFF 90.00000
param set IMU_GYRO_CUTOFF 100.00000 param set IMU_GYRO_CUTOFF 100.00000
# Thrust curve (avoids the need for TPA) # Thrust curve (avoids the need for TPA)
#param set THR_MDL_FAC 0.25 #param set THR_MDL_FAC 0.25
# System # Obsolete
param set PWM_MAX 1950 #param set PWM_MAX 1950
param set PWM_MIN 1100 #param set PWM_MIN 1100
param set PWM_RATE 0 #param set PWM_RATE 0
# Sensors # Sensors
param set SENS_BOARD_ROT 10 param set SENS_BOARD_ROT 10
@@ -79,22 +76,27 @@ then
param set SENS_TFMINI_CFG 103 param set SENS_TFMINI_CFG 103
param set SENS_EN_PMW3901 1 param set SENS_EN_PMW3901 1
# Smart Battery
param set SENS_EN_BATT 1
# EKF2 # EKF2
param set EKF2_AID_MASK 3 param set EKF2_AID_MASK 3
param set EKF2_GND_EFF_DZ 6.0 param set EKF2_GND_EFF_DZ 6.0
param set EKF2_HGT_MODE 1 param set EKF2_HGT_MODE 1
param set EKF2_MIN_RNG 0.3 param set EKF2_MIN_RNG 0.3
param set EKF2_OF_QMIN 50
param set EKF2_RNG_AID 1 param set EKF2_RNG_AID 1
# Flow
param set EKF2_OF_QMIN 70
# Position control # Position control
param set MPC_Z_P 1.00000 param set MPC_Z_P 1.10000
param set MPC_Z_VEL_P 0.20000 param set MPC_Z_VEL_P 0.30000
param set MPC_Z_VEL_I 0.02000 param set MPC_Z_VEL_I 0.05000
param set MPC_Z_VEL_D 0.00000 param set MPC_Z_VEL_D 0.00000
param set MPC_THR_MIN 0.06000 param set MPC_THR_MIN 0.06000
param set MPC_THR_HOVER 0.3000 param set MPC_THR_HOVER 0.4400
param set MIS_TAKEOFF_ALT 1.1000 param set MIS_TAKEOFF_ALT 1.1000
param set MPC_XY_P 1.7000 param set MPC_XY_P 1.7000
@@ -115,7 +117,6 @@ then
# Filter settings # Filter settings
param set IMU_GYRO_CUTOFF 90.00000 param set IMU_GYRO_CUTOFF 90.00000
param set MC_DTERM_CUTOFF 70.00000
# Don't try to be intelligent on RC loss: just cut the motors # Don't try to be intelligent on RC loss: just cut the motors
param set NAV_RCL_ACT 6 param set NAV_RCL_ACT 6
@@ -133,4 +134,15 @@ then
param set MAV_1_CONFIG 102 param set MAV_1_CONFIG 102
param set MAV_1_MODE 0 # normal param set MAV_1_MODE 0 # normal
param set SER_TEL2_BAUD 57600 param set SER_TEL2_BAUD 57600
# DSHOT
param set DSHOT_CONFIG 600
# EKF OF POSITION
param set EKF2_OF_POS_X 0.06
param set EKF2_OF_POS_Y 0.03
param set EKF2_OF_POS_Z -0.07
# Failsafe
param set COM_LOW_BAT_ACT 3
fi fi