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autostart scripts: default MPC parameters updated

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This commit is contained in:
Anton Babushkin
2014-01-31 12:18:52 +01:00
parent 103bece726
commit 9f88cbdc0b
5 changed files with 59 additions and 44 deletions
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ROMFS/px4fmu_common/init.d/10015_tbs_discovery
+18
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@@ -22,6 +22,24 @@ then
param set MC_YAWRATE_P 0.2 param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0 param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0 param set MC_YAWRATE_D 0.0
param set MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.1
param set MPC_XY_P 1.0
param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_D 0.01
param set MPC_XY_VEL_MAX 5
param set MPC_XY_FF 0.5
param set MPC_Z_P 1.0
param set MPC_Z_VEL_P 0.1
param set MPC_Z_VEL_I 0.02
param set MPC_Z_VEL_D 0.0
param set MPC_Z_VEL_MAX 3
param set MPC_Z_FF 0.5
param set MPC_TILT_MAX 1.0
param set MPC_LAND_SPEED 1.0
param set MPC_LAND_TILT 0.3
fi fi
set VEHICLE_TYPE mc set VEHICLE_TYPE mc
ROMFS/px4fmu_common/init.d/10016_3dr_iris
+11 -7
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@@ -23,19 +23,23 @@ then
param set MC_YAWRATE_I 0.0 param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0 param set MC_YAWRATE_D 0.0
param set MPC_TILT_MAX 1.0
param set MPC_THR_MAX 1.0 param set MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.1 param set MPC_THR_MIN 0.1
param set MPC_XY_P 1.0 param set MPC_XY_P 1.0
param set MPC_XY_VEL_D 0.01
param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_MAX 5
param set MPC_XY_VEL_P 0.1 param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_D 0.01
param set MPC_XY_VEL_MAX 5
param set MPC_XY_FF 0.5
param set MPC_Z_P 1.0 param set MPC_Z_P 1.0
param set MPC_Z_VEL_D 0.0
param set MPC_Z_VEL_I 0.02
param set MPC_Z_VEL_MAX 3
param set MPC_Z_VEL_P 0.1 param set MPC_Z_VEL_P 0.1
param set MPC_Z_VEL_I 0.02
param set MPC_Z_VEL_D 0.0
param set MPC_Z_VEL_MAX 3
param set MPC_Z_FF 0.5
param set MPC_TILT_MAX 1.0
param set MPC_LAND_SPEED 1.0
param set MPC_LAND_TILT 0.3
param set BAT_V_SCALING 0.00989 param set BAT_V_SCALING 0.00989
param set BAT_C_SCALING 0.0124 param set BAT_C_SCALING 0.0124
ROMFS/px4fmu_common/init.d/12001_octo_cox
+2 -29
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@@ -2,36 +2,9 @@
# #
# Generic 10” Octo coaxial geometry # Generic 10” Octo coaxial geometry
# #
# Maintainers: Lorenz Meier <lm@inf.ethz.ch> # Maintainers: Lorenz Meier <lm@inf.ethz.ch>, Anton Babushkin <anton.babushkin@me.com>
# #
if [ $DO_AUTOCONFIG == yes ] sh /etc/init.d/8001_octo_x
then
#
# Default parameters for this platform
#
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.12
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.12
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 2.0
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005
# TODO add default MPC parameters
fi
set VEHICLE_TYPE mc
set MIXER FMU_octo_cox set MIXER FMU_octo_cox
set PWM_OUTPUTS 1234
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
set PWM_MIN 1200
set PWM_MAX 1900
ROMFS/px4fmu_common/init.d/4010_dji_f330
+11 -7
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@@ -23,19 +23,23 @@ then
param set MC_YAWRATE_I 0.05 param set MC_YAWRATE_I 0.05
param set MC_YAWRATE_D 0.0 param set MC_YAWRATE_D 0.0
param set MPC_TILT_MAX 1.0
param set MPC_THR_MAX 1.0 param set MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.1 param set MPC_THR_MIN 0.1
param set MPC_XY_P 1.0 param set MPC_XY_P 1.0
param set MPC_XY_VEL_D 0.01
param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_MAX 5
param set MPC_XY_VEL_P 0.1 param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_D 0.01
param set MPC_XY_VEL_MAX 5
param set MPC_XY_FF 0.5
param set MPC_Z_P 1.0 param set MPC_Z_P 1.0
param set MPC_Z_VEL_D 0.0
param set MPC_Z_VEL_I 0.02
param set MPC_Z_VEL_MAX 3
param set MPC_Z_VEL_P 0.1 param set MPC_Z_VEL_P 0.1
param set MPC_Z_VEL_I 0.02
param set MPC_Z_VEL_D 0.0
param set MPC_Z_VEL_MAX 3
param set MPC_Z_FF 0.5
param set MPC_TILT_MAX 1.0
param set MPC_LAND_SPEED 1.0
param set MPC_LAND_TILT 0.3
fi fi
set VEHICLE_TYPE mc set VEHICLE_TYPE mc
ROMFS/px4fmu_common/init.d/4011_dji_f450
+17 -1
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@@ -23,7 +23,23 @@ then
param set MC_YAWRATE_I 0.2 param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005 param set MC_YAWRATE_D 0.005
# TODO add default MPC parameters param set MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.1
param set MPC_XY_P 1.0
param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_D 0.01
param set MPC_XY_VEL_MAX 5
param set MPC_XY_FF 0.5
param set MPC_Z_P 1.0
param set MPC_Z_VEL_P 0.1
param set MPC_Z_VEL_I 0.02
param set MPC_Z_VEL_D 0.0
param set MPC_Z_VEL_MAX 3
param set MPC_Z_FF 0.5
param set MPC_TILT_MAX 1.0
param set MPC_LAND_SPEED 1.0
param set MPC_LAND_TILT 0.3
fi fi
set VEHICLE_TYPE mc set VEHICLE_TYPE mc