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Upated Babyshark VTOL config and vtol_defaults

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Updated the babyshark default  parameters for improved flight performance,
as well as two MPC parameters in vtol_defaults for smoother hovering with VTOLS"

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2019-07-03 19:14:09 +02:00
committed by Daniel Agar
parent 2f1cfa60f4
commit 9b46c1d8a9
2 changed files with 51 additions and 13 deletions
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ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
+49 -13
View File
@@ -15,61 +15,97 @@
# @output MAIN6 motor 2
# @output MAIN7 motor 3
# @output MAIN8 motor 4
#
# @board px4_fmu-v2 exclude
sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set FW_AIRSPD_MAX 28
param set FW_AIRSPD_MIN 17
param set BAT_N_CELLS 6
param set COM_DISARM_LAND 3
param set FW_AIRSPD_MAX 30
param set FW_AIRSPD_MIN 19
param set FW_AIRSPD_TRIM 23
param set FW_CLMBOUT_DIFF 0.1
param set FW_L1_R_SLEW_MAX 40
param set FW_LND_EARLYCFG 1
param set FW_P_LIM_MAX 25
param set FW_MAN_P_MAX 30
param set FW_PR_I 0.1
param set FW_PSP_OFF 3
param set FW_P_LIM_MAX 18
param set FW_P_LIM_MIN -25
param set FW_RLL_TO_YAW_FF 0.1
param set FW_RR_I 0.1
param set FW_RR_P 0.08
param set FW_R_LIM 35
param set FW_THR_CRUISE 0.7
param set FW_THR_MIN 0.25
param set FW_R_RMAX 50
param set FW_THR_CRUISE 0.65
param set FW_THR_MIN 0.3
param set FW_THR_SLEW_MAX 0.6
param set FW_T_HRATE_FF 0
param set FW_T_SINK_MAX 15
param set FW_T_SINK_MIN 3
param set FW_T_THRO_CONST 6
param set FW_T_TIME_CONST 6
param set FW_YR_I 0.1
param set FW_YR_P 0.15
param set IMU_GYRO_CUTOFF 40
param set MC_DTERM_CUTOFF 15
param set MC_PITCHRATE_I 0.2
param set MC_PITCHRATE_MAX 60
param set MC_ROLLRATE_I 0.2
param set MC_ROLLRATE_MAX 60
param set MC_YAWRATE_I 0.15
param set MC_YAWRATE_MAX 40
param set MC_YAWRATE_P 0.3
param set MIS_TAKEOFF_ALT 20
param set MIS_YAW_TMT 10
param set MPC_ACC_DOWN_MAX 2
param set MPC_ACC_HOR_MAX 2
param set MPC_ACC_UP_MAX 3
param set MPC_JERK_AUTO 8
param set MPC_MAN_TILT_MAX 25
param set MPC_MAN_Y_MAX 40
param set MPC_SPOOLUP_TIME 2
param set MPC_THR_HOVER 0.45
param set MPC_TILTMAX_AIR 25
param set MPC_TKO_RAMP_T0.8
param set MPC_TKO_RAMP_T 3
param set MPC_TKO_SPEED 1
param set MPC_VEL_MANUAL 3
param set MPC_XY_VEL_MAX 3.5
param set MPC_Z_VEL_MAX_UP 2
param set MPC_XY_CRUISE 3
param set MPC_XY_VEL_MAX 4
param set MPC_YAWRAUTO_MAX 40
param set MPC_Z_VEL_MAX_DN 1.5
param set MPC_Z_VEL_MAX_UP 2
param set NAV_ACC_RAD 3
param set PWM_MAIN_DIS3 1000
param set PWM_MAIN_MIN3 1120
param set PWM_MIN 950
param set VT_ARSP_TRANS 19
param set VT_B_TRANS_DUR 9
param set SYS_FORCE_F7DC 2
param set VT_ARSP_BLEND 10
param set VT_ARSP_TRANS 21
param set VT_B_TRANS_DUR 12
param set VT_ELEV_MC_LOCK 0
param set VT_FWD_THRUST_SC 1.2
param set VT_FW_MOT_OFFID 5678
param set VT_F_TRANS_DUR 8
param set VT_F_TRANS_THR 0.85
param set VT_F_TR_OL_TM 7
param set VT_F_TR_OL_TM 8
param set VT_IDLE_PWM_MC 1000
param set VT_MOT_ID 5678
param set VT_PSHER_RMP_DT 2
param set VT_TRANS_MIN_TM 6
param set VT_TRANS_MIN_TM 4
param set VT_TYPE 2
fi
ROMFS/px4fmu_common/init.d/rc.vtol_defaults
+2
View File
@@ -15,6 +15,8 @@ then
param set MPC_ACC_HOR_MAX 2
param set MPC_LAND_SPEED 0.7
param set MPC_TKO_SPEED 1
param set MPC_VEL_MANUAL 3
param set MPC_XY_CRUISE 3
param set MPC_XY_VEL_MAX 4
param set MPC_Z_VEL_MAX_DN 1.5