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Set flight-tested values for 3DR quad

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This commit is contained in:
Lorenz Meier
2015-08-01 09:34:05 +02:00
parent 10a6a59498
commit a93f1032fd
1 changed files with 10 additions and 16 deletions
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ROMFS/px4fmu_common/init.d/10020_3dr_quad
+10 -16
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@@ -1,10 +1,10 @@
#!nsh
#
# @name 3DR Iris Quadrotor
# @name 3DR Iris DIY Quad
#
# @type Quadrotor Wide
# @type Quadrotor x
#
# @maintainer Anton Babushkin <anton@px4.io>
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.mc_defaults
@@ -12,21 +12,15 @@ sh /etc/init.d/rc.mc_defaults
if [ $AUTOCNF == yes ]
then
# TODO tune roll/pitch separately
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.13
param set MC_ROLLRATE_I 0.05
param set MC_ROLL_P 6.5
param set MC_ROLLRATE_P 0.08
param set MC_ROLLRATE_I 0.1
param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.13
param set MC_PITCHRATE_I 0.05
param set MC_PITCH_P 6.0
param set MC_PITCHRATE_P 0.16
param set MC_PITCHRATE_I 0.09
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 2.5
param set MC_YAWRATE_P 0.25
param set MC_YAWRATE_I 0.25
param set MC_YAWRATE_D 0.0
param set BAT_V_SCALING 0.00989
param set BAT_C_SCALING 0.0124
param set MC_YAW_P 4
fi
set MIXER quad_x