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sitl plane update tuning

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This commit is contained in:
Daniel Agar
2017-02-07 01:11:06 -05:00
committed by Lorenz Meier
parent ff68d63143
commit b14cb952ae
2 changed files with 36 additions and 5 deletions
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posix-configs/SITL/init/ekf2/plane
+18 -2
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@@ -28,10 +28,26 @@ param set NAV_ACC_RAD 15.0
param set NAV_LOITER_RAD 50
param set MIS_LTRMIN_ALT 30
param set MIS_TAKEOFF_ALT 30
param set FW_THR_IDLE 0.8
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
param set EKF2_MAG_TYPE 1
param set FW_THR_IDLE 0.15
param set FW_LND_ANG 8
param set FW_R_TC 0.7
param set FW_RR_FF 0.20
param set FW_RR_I 0.02
param set FW_RR_P 0.22
param set FW_P_TC 0.5
param set FW_PR_FF 0.40
param set FW_PR_I 0.05
param set FW_PR_P 0.05
param set RWTO_TKOFF 1
replay tryapplyparams
simulator start -s
rgbledsim start
@@ -63,6 +79,6 @@ mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
mavlink stream -r 20 -s RC_CHANNELS -u 14556
mavlink stream -r 250 -s HIGHRES_IMU -u 14556
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
sdlog2 start -r 200 -e -t -a
logger start -e -t
mavlink boot_complete
replay trystart
posix-configs/SITL/init/lpe/plane
+18 -3
View File
@@ -29,10 +29,25 @@ param set NAV_LOITER_RAD 50
param set MIS_LTRMIN_ALT 30
param set MIS_TAKEOFF_ALT 30
param set FW_THR_IDLE 0.8
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
param set EKF2_MAG_TYPE 1
param set FW_THR_IDLE 0.15
param set FW_LND_ANG 8
param set FW_R_TC 0.7
param set FW_RR_FF 0.20
param set FW_RR_I 0.02
param set FW_RR_P 0.22
param set FW_P_TC 0.5
param set FW_PR_FF 0.40
param set FW_PR_I 0.05
param set FW_PR_P 0.05
param set RWTO_TKOFF 1
replay tryapplyparams
simulator start -s
rgbledsim start
@@ -48,7 +63,7 @@ sleep 1
sensors start
commander start
navigator start
ekf2 start
local_position_estimator start
fw_pos_control_l1 start
fw_att_control start
land_detector start fixedwing
@@ -64,6 +79,6 @@ mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
mavlink stream -r 20 -s RC_CHANNELS -u 14556
mavlink stream -r 250 -s HIGHRES_IMU -u 14556
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
sdlog2 start -r 200 -e -t -a
logger start -e -t
mavlink boot_complete
replay trystart