Mirrors_Framework/PX4-Autopilot
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Update controller gains to match better vehicle models

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Lorenz Meier
2016-06-26 22:25:55 +02:00
parent 47a4b95217
commit 33e259e827
5 changed files with 16 additions and 17 deletions
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posix-configs/SITL/init/rcS_gazebo_iris
+4 -4
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@@ -30,10 +30,10 @@ param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 5.0
param set RTL_LAND_DELAY 5
param set MIS_TAKEOFF_ALT 2.5
param set MC_ROLLRATE_P 0.3
param set MC_PITCHRATE_P 0.3
param set MC_PITCH_P 7
param set MC_ROLL_P 7
param set MC_ROLLRATE_P 0.25
param set MC_PITCHRATE_P 0.25
param set MC_PITCH_P 5.5
param set MC_ROLL_P 5.5
param set MC_ROLLRATE_I 0.1
param set MC_PITCHRATE_I 0.1
param set MPC_HOLD_MAX_Z 2.0
posix-configs/SITL/init/rcS_gazebo_solo
+4 -4
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@@ -27,10 +27,10 @@ param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
param set RTL_LAND_DELAY 0
param set MIS_TAKEOFF_ALT 2.5
param set MC_ROLLRATE_P 0.3
param set MC_PITCHRATE_P 0.3
param set MC_PITCH_P 7
param set MC_ROLL_P 7
param set MC_ROLLRATE_P 0.25
param set MC_PITCHRATE_P 0.25
param set MC_PITCH_P 5.5
param set MC_ROLL_P 5.5
param set MC_ROLLRATE_I 0.1
param set MC_PITCHRATE_I 0.1
param set MPC_HOLD_MAX_Z 2.0
posix-configs/SITL/init/rcS_gazebo_standard_vtol
+2 -2
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@@ -18,8 +18,8 @@ param set CAL_ACC0_YSCALE 1.01
param set CAL_ACC0_ZSCALE 1.01
param set CAL_ACC1_XOFF 0.01
param set CAL_MAG0_XOFF 0.01
param set MC_ROLLRATE_P 0.3
param set MC_PITCHRATE_P 0.3
param set MC_ROLLRATE_P 0.25
param set MC_PITCHRATE_P 0.25
param set MC_PITCH_P 5.5
param set MC_ROLL_P 5.5
param set MC_ROLLRATE_I 0.1
posix-configs/SITL/init/rcS_gazebo_tailsitter
+2 -2
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@@ -18,8 +18,8 @@ param set CAL_ACC0_YSCALE 1.01
param set CAL_ACC0_ZSCALE 1.01
param set CAL_ACC1_XOFF 0.01
param set CAL_MAG0_XOFF 0.01
param set MC_ROLLRATE_P 0.3
param set MC_PITCHRATE_P 0.3
param set MC_ROLLRATE_P 0.25
param set MC_PITCHRATE_P 0.25
param set MC_PITCH_P 5.5
param set MC_ROLL_P 5.5
param set MC_ROLLRATE_I 0.1
posix-configs/SITL/init/rcS_gazebo_typhoon_h480
+4 -5
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@@ -27,13 +27,12 @@ param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
param set RTL_LAND_DELAY 0
param set MIS_TAKEOFF_ALT 2.5
param set MC_ROLLRATE_P 0.3
param set MC_PITCHRATE_P 0.3
param set MC_PITCH_P 7
param set MC_ROLL_P 7
param set MC_ROLLRATE_P 0.25
param set MC_PITCHRATE_P 0.25
param set MC_PITCH_P 5.5
param set MC_ROLL_P 5.5
param set MC_ROLLRATE_I 0.1
param set MC_PITCHRATE_I 0.1
param set MC_YAWRATE_P 0.08
param set MPC_HOLD_MAX_Z 2.0
param set MPC_HOLD_XY_DZ 0.1
param set MPC_Z_VEL_P 0.8