diff --git a/posix-configs/SITL/init/rcS_gazebo_iris b/posix-configs/SITL/init/rcS_gazebo_iris index b84a93ee4ae..76c19a17cd3 100644 --- a/posix-configs/SITL/init/rcS_gazebo_iris +++ b/posix-configs/SITL/init/rcS_gazebo_iris @@ -31,15 +31,13 @@ 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 0.25 -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_ROLLRATE_P 0.2 +param set MC_PITCHRATE_P 0.2 +param set MC_PITCH_P 6 +param set MC_ROLL_P 6 param set MPC_HOLD_MAX_Z 2.0 param set MPC_HOLD_XY_DZ 0.1 -param set MPC_Z_VEL_P 0.8 +param set MPC_Z_VEL_P 0.6 param set MPC_Z_VEL_I 0.15 param set MPC_XY_VEL_P 0.15 param set MPC_XY_VEL_I 0.2 diff --git a/posix-configs/SITL/init/rcS_gazebo_solo b/posix-configs/SITL/init/rcS_gazebo_solo index 8d9d09bf996..62fc557bfac 100644 --- a/posix-configs/SITL/init/rcS_gazebo_solo +++ b/posix-configs/SITL/init/rcS_gazebo_solo @@ -28,18 +28,14 @@ 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 0.25 -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_ROLLRATE_P 0.2 +param set MC_PITCHRATE_P 0.2 +param set MC_PITCH_P 6 +param set MC_ROLL_P 6 param set MPC_HOLD_MAX_Z 2.0 param set MPC_HOLD_XY_DZ 0.1 -param set MPC_Z_VEL_P 0.8 +param set MPC_Z_VEL_P 0.6 param set MPC_Z_VEL_I 0.15 -param set MPC_XY_VEL_P 0.15 -param set MPC_XY_VEL_I 0.2 param set EKF2_GBIAS_INIT 0.01 param set EKF2_ANGERR_INIT 0.01 simulator start -s diff --git a/posix-configs/SITL/init/rcS_gazebo_tailsitter b/posix-configs/SITL/init/rcS_gazebo_tailsitter index 0882d895a01..663be856075 100644 --- a/posix-configs/SITL/init/rcS_gazebo_tailsitter +++ b/posix-configs/SITL/init/rcS_gazebo_tailsitter @@ -19,12 +19,10 @@ 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 0.25 -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_ROLLRATE_P 0.2 +param set MC_PITCHRATE_P 0.2 +param set MC_PITCH_P 6 +param set MC_ROLL_P 6 param set MPC_XY_P 0.15 param set MPC_XY_VEL_P 0.05 param set MPC_XY_VEL_D 0.005 diff --git a/posix-configs/SITL/init/rcS_gazebo_typhoon_h480 b/posix-configs/SITL/init/rcS_gazebo_typhoon_h480 index a122924f6cc..5fd7c5f5acb 100644 --- a/posix-configs/SITL/init/rcS_gazebo_typhoon_h480 +++ b/posix-configs/SITL/init/rcS_gazebo_typhoon_h480 @@ -28,15 +28,13 @@ 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 0.25 -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_ROLLRATE_P 0.2 +param set MC_PITCHRATE_P 0.2 +param set MC_PITCH_P 6 +param set MC_ROLL_P 6 param set MPC_HOLD_MAX_Z 2.0 param set MPC_HOLD_XY_DZ 0.1 -param set MPC_Z_VEL_P 0.8 +param set MPC_Z_VEL_P 0.6 param set MPC_Z_VEL_I 0.15 param set MPC_XY_VEL_P 0.15 param set MPC_XY_VEL_I 0.2 diff --git a/posix-configs/SITL/init/rcS_jmavsim_iris b/posix-configs/SITL/init/rcS_jmavsim_iris index d48ecbf3944..2e904046196 100644 --- a/posix-configs/SITL/init/rcS_jmavsim_iris +++ b/posix-configs/SITL/init/rcS_jmavsim_iris @@ -31,12 +31,10 @@ 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_I 0.1 -param set MC_PITCHRATE_I 0.1 +param set MC_ROLLRATE_P 0.2 +param set MC_PITCHRATE_P 0.2 +param set MC_PITCH_P 6 +param set MC_ROLL_P 6 param set MPC_HOLD_MAX_Z 2.0 param set MPC_HOLD_XY_DZ 0.1 param set MPC_Z_VEL_MAX 2.0 diff --git a/posix-configs/SITL/init/rcS_lpe_jmavsim_iris b/posix-configs/SITL/init/rcS_lpe_jmavsim_iris index fa8d9bca2a6..6192b2e4343 100644 --- a/posix-configs/SITL/init/rcS_lpe_jmavsim_iris +++ b/posix-configs/SITL/init/rcS_lpe_jmavsim_iris @@ -18,12 +18,10 @@ 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_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_ROLLRATE_P 0.2 +param set MC_PITCHRATE_P 0.2 +param set MC_PITCH_P 6 +param set MC_ROLL_P 6 param set MPC_XY_P 0.4 param set MPC_XY_VEL_P 0.2 param set MPC_XY_VEL_D 0.005 diff --git a/posix-configs/SITL/init/rcS_multiple_gazebo_iris b/posix-configs/SITL/init/rcS_multiple_gazebo_iris index fb4d23d9b2b..e6de00cff9a 100644 --- a/posix-configs/SITL/init/rcS_multiple_gazebo_iris +++ b/posix-configs/SITL/init/rcS_multiple_gazebo_iris @@ -19,12 +19,10 @@ 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_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_ROLLRATE_P 0.2 +param set MC_PITCHRATE_P 0.2 +param set MC_PITCH_P 6 +param set MC_ROLL_P 6 param set MPC_XY_P 0.15 param set MPC_XY_VEL_P 0.05 param set MPC_XY_VEL_D 0.005