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Gazebo SITL: Ensure a tightly closed altitude control loop

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Lorenz Meier
2016-04-27 15:30:44 +02:00
parent 65d0d1f9e3
commit 2fc6cdd994
4 changed files with 8 additions and 1 deletions
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posix-configs/SITL/init/rcS_gazebo_iris
+2
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@@ -31,6 +31,8 @@ param set MC_ROLLRATE_P 0.25
param set MC_PITCHRATE_P 0.25 param set MC_PITCHRATE_P 0.25
param set MC_PITCH_P 5 param set MC_PITCH_P 5
param set MC_ROLL_P 5 param set MC_ROLL_P 5
param set MPC_Z_VEL_P 0.8
param set MPC_Z_VEL_I 0.15
simulator start -s simulator start -s
rgbledsim start rgbledsim start
tone_alarm start tone_alarm start
posix-configs/SITL/init/rcS_gazebo_iris_opt_flow
+2 -1
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@@ -31,7 +31,8 @@ param set MC_ROLLRATE_P 0.25
param set MC_PITCHRATE_P 0.25 param set MC_PITCHRATE_P 0.25
param set MC_PITCH_P 5 param set MC_PITCH_P 5
param set MC_ROLL_P 5 param set MC_ROLL_P 5
param set MPC_XY_VEL_P 0.05 param set MPC_Z_VEL_P 0.8
param set MPC_Z_VEL_I 0.15
simulator start -s simulator start -s
rgbledsim start rgbledsim start
tone_alarm start tone_alarm start
posix-configs/SITL/init/rcS_gazebo_standard_vtol
+2
View File
@@ -27,6 +27,8 @@ param set MPC_XY_VEL_P 0.05
param set MPC_XY_VEL_D 0.005 param set MPC_XY_VEL_D 0.005
param set MPC_XY_FF 0.1 param set MPC_XY_FF 0.1
param set MPC_Z_VEL_MAX 1.5 param set MPC_Z_VEL_MAX 1.5
param set MPC_Z_VEL_P 0.8
param set MPC_Z_VEL_I 0.15
param set SENS_BOARD_ROT 8 param set SENS_BOARD_ROT 8
param set SENS_DPRES_OFF 0.001 param set SENS_DPRES_OFF 0.001
param set SENS_BOARD_X_OFF 0.000001 param set SENS_BOARD_X_OFF 0.000001
posix-configs/SITL/init/rcS_gazebo_tailsitter
+2
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@@ -27,6 +27,8 @@ param set MPC_XY_VEL_P 0.05
param set MPC_XY_VEL_D 0.005 param set MPC_XY_VEL_D 0.005
param set MPC_XY_FF 0.1 param set MPC_XY_FF 0.1
param set MPC_Z_VEL_MAX 1.0 param set MPC_Z_VEL_MAX 1.0
param set MPC_Z_VEL_P 0.8
param set MPC_Z_VEL_I 0.15
param set SENS_BOARD_ROT 8 param set SENS_BOARD_ROT 8
param set SENS_DPRES_OFF 0.001 param set SENS_DPRES_OFF 0.001
param set SENS_BOARD_X_OFF 0.000001 param set SENS_BOARD_X_OFF 0.000001