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SITL: Tune standard VTOL to have better position control performance & update gazebo

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This commit is contained in:
Lorenz Meier
2016-09-04 21:25:39 +02:00
committed by Beat Küng
parent 90c7b06152
commit 3f07b03911
3 changed files with 11 additions and 7 deletions
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posix-configs/SITL/init/ekf2/standard_vtol
+5 -3
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@@ -19,12 +19,14 @@ 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 0.2
param set MC_ROLLRATE_P 0.3
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_P 0.8
param set MPC_ACC_HOR_MAX 2.0
param set MPC_XY_VEL_P 0.15
param set MPC_XY_VEL_I 0.2
param set MPC_XY_VEL_D 0.005
param set MPC_XY_FF 0.1
param set MPC_Z_VEL_MAX 1.5
posix-configs/SITL/init/lpe/standard_vtol
+5 -3
View File
@@ -19,12 +19,14 @@ 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 0.2
param set MC_ROLLRATE_P 0.3
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_P 0.5
param set MPC_ACC_HOR_MAX 1.0
param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_I 0.1
param set MPC_XY_VEL_D 0.005
param set MPC_XY_FF 0.1
param set MPC_Z_VEL_MAX 1.5