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removed lower default from vtol config, added flight tested Fun Cub parameters

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This commit is contained in:
Andreas Antener
2016-02-17 10:49:28 +01:00
parent 03e71c47b6
commit 770c020117
2 changed files with 18 additions and 31 deletions
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ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad
+18 -6
View File
@@ -14,16 +14,18 @@ then
param set VT_TYPE 2 param set VT_TYPE 2
param set VT_MOT_COUNT 4 param set VT_MOT_COUNT 4
param set VT_TRANS_THR 0.75 param set VT_TRANS_THR 0.75
param set VT_ARSP_TRANS 12
param set VT_ARSP_BLEND 6
param set MC_ROLL_P 7.0 param set MC_ROLL_P 6.0
param set MC_ROLLRATE_P 0.15 param set MC_ROLLRATE_P 0.17
param set MC_ROLLRATE_I 0.002 param set MC_ROLLRATE_I 0.002
param set MC_ROLLRATE_D 0.003 param set MC_ROLLRATE_D 0.004
param set MC_ROLLRATE_FF 0.0 param set MC_ROLLRATE_FF 0.0
param set MC_PITCH_P 7.0 param set MC_PITCH_P 6.0
param set MC_PITCHRATE_P 0.12 param set MC_PITCHRATE_P 0.19
param set MC_PITCHRATE_I 0.002 param set MC_PITCHRATE_I 0.002
param set MC_PITCHRATE_D 0.003 param set MC_PITCHRATE_D 0.004
param set MC_PITCHRATE_FF 0.0 param set MC_PITCHRATE_FF 0.0
param set MC_YAW_P 2.8 param set MC_YAW_P 2.8
param set MC_YAW_FF 0.5 param set MC_YAW_FF 0.5
@@ -31,6 +33,16 @@ then
param set MC_YAWRATE_I 0.02 param set MC_YAWRATE_I 0.02
param set MC_YAWRATE_D 0.0 param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_FF 0.0 param set MC_YAWRATE_FF 0.0
param set FW_PR_FF 0.5
param set FW_PR_I 0.02
param set FW_PR_IMAX 0.4
param set FW_PR_P 0.08
param set FW_RR_FF 0.6
param set FW_RR_I 0.01
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.05
param set FW_THR_CRUISE 0.75
fi fi
set MIXER vtol_quad_x set MIXER vtol_quad_x
ROMFS/px4fmu_common/init.d/rc.vtol_defaults
-25
View File
@@ -4,34 +4,9 @@ set VEHICLE_TYPE vtol
if [ $AUTOCNF == yes ] if [ $AUTOCNF == yes ]
then then
#
#Default controller parameters for MC
#
param set MC_ROLL_P 6.0 param set MC_ROLL_P 6.0
param set MC_ROLLRATE_P 0.1
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.003
param set MC_PITCH_P 6.0 param set MC_PITCH_P 6.0
param set MC_PITCHRATE_P 0.2
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 4 param set MC_YAW_P 4
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.3
#
# Default parameters for FW
#
param set FW_PR_FF 0.3
param set FW_PR_I 0.000
param set FW_PR_IMAX 0.2
param set FW_PR_P 0.02
param set FW_RR_FF 0.3
param set FW_RR_I 0.00
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.02
param set PE_VELNE_NOISE 0.5 param set PE_VELNE_NOISE 0.5
param set PE_VELD_NOISE 0.3 param set PE_VELD_NOISE 0.3