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Update gains

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Lorenz Meier
2016-06-18 17:36:48 +02:00
parent d860bdcdc0
commit c647b6db4d
9 changed files with 46 additions and 38 deletions
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posix-configs/SITL/init/rcS_gazebo_iris
+2 -2
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@@ -29,8 +29,8 @@ param set RTL_LAND_DELAY 0
param set MIS_TAKEOFF_ALT 2.5
param set MC_ROLLRATE_P 0.3
param set MC_PITCHRATE_P 0.3
param set MC_PITCH_P 5.5
param set MC_ROLL_P 5.5
param set MC_PITCH_P 7
param set MC_ROLL_P 7
param set MC_ROLLRATE_I 0.1
param set MC_PITCHRATE_I 0.1
param set MPC_HOLD_MAX_Z 2.0
posix-configs/SITL/init/rcS_gazebo_iris_opt_flow
+4 -4
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@@ -27,10 +27,10 @@ param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
param set RTL_LAND_DELAY 0
param set MIS_TAKEOFF_ALT 2.5
param set MC_ROLLRATE_P 0.5
param set MC_PITCHRATE_P 0.5
param set MC_PITCH_P 5
param set MC_ROLL_P 5
param set MC_ROLLRATE_P 0.3
param set MC_PITCHRATE_P 0.3
param set MC_PITCH_P 5.5
param set MC_ROLL_P 5.5
param set MC_ROLLRATE_I 0.1
param set MC_PITCHRATE_I 0.1
param set MPC_HOLD_MAX_Z 2.0
posix-configs/SITL/init/rcS_gazebo_solo
+4 -4
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@@ -27,10 +27,10 @@ param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
param set RTL_LAND_DELAY 0
param set MIS_TAKEOFF_ALT 2.5
param set MC_ROLLRATE_P 0.25
param set MC_PITCHRATE_P 0.25
param set MC_PITCH_P 5
param set MC_ROLL_P 5
param set MC_ROLLRATE_P 0.3
param set MC_PITCHRATE_P 0.3
param set MC_PITCH_P 7
param set MC_ROLL_P 7
param set MC_ROLLRATE_I 0.1
param set MC_PITCHRATE_I 0.1
param set MPC_HOLD_MAX_Z 2.0
posix-configs/SITL/init/rcS_gazebo_tailsitter
+6 -4
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@@ -1,10 +1,6 @@
uorb start
param load
param set MAV_TYPE 20
param set MC_PITCHRATE_P 0.25
param set MC_ROLLRATE_P 0.25
param set MC_PITCH_P 5
param set MC_ROLL_P 5
param set VT_TYPE 0
param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2
@@ -22,6 +18,12 @@ param set CAL_ACC0_YSCALE 1.01
param set CAL_ACC0_ZSCALE 1.01
param set CAL_ACC1_XOFF 0.01
param set CAL_MAG0_XOFF 0.01
param set MC_ROLLRATE_P 0.3
param set MC_PITCHRATE_P 0.3
param set MC_PITCH_P 5.5
param set MC_ROLL_P 5.5
param set MC_ROLLRATE_I 0.1
param set MC_PITCHRATE_I 0.1
param set MPC_XY_P 0.15
param set MPC_XY_VEL_P 0.05
param set MPC_XY_VEL_D 0.005
posix-configs/SITL/init/rcS_jmavsim_iris
+6 -6
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@@ -1,12 +1,6 @@
uorb start
param load
param set MAV_TYPE 2
param set MC_PITCHRATE_P 0.15
param set MC_PITCH_P 7
param set MC_ROLL_P 7
param set MC_ROLLRATE_P 0.15
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.35
param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2
dataman start
@@ -36,6 +30,12 @@ param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
param set RTL_LAND_DELAY 0
param set MIS_TAKEOFF_ALT 2.5
param set MC_ROLLRATE_P 0.3
param set MC_PITCHRATE_P 0.3
param set MC_PITCH_P 7
param set MC_ROLL_P 7
param set MC_ROLLRATE_I 0.1
param set MC_PITCHRATE_I 0.1
param set MPC_HOLD_MAX_Z 2.0
param set MPC_HOLD_XY_DZ 0.1
param set MPC_Z_VEL_MAX 2.0
posix-configs/SITL/init/rcS_lpe_gazebo_iris
+6 -4
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@@ -1,10 +1,6 @@
uorb start
param load
param set MAV_TYPE 2
param set MC_PITCHRATE_P 0.3
param set MC_ROLLRATE_P 0.3
param set MC_YAW_P 2.0
param set MC_YAWRATE_P 0.35
param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2
dataman start
@@ -21,6 +17,12 @@ param set CAL_ACC0_YSCALE 1.01
param set CAL_ACC0_ZSCALE 1.01
param set CAL_ACC1_XOFF 0.01
param set CAL_MAG0_XOFF 0.01
param set MC_ROLLRATE_P 0.3
param set MC_PITCHRATE_P 0.3
param set MC_PITCH_P 5.5
param set MC_ROLL_P 5.5
param set MC_ROLLRATE_I 0.1
param set MC_PITCHRATE_I 0.1
param set MPC_XY_P 0.15
param set MPC_XY_VEL_P 0.05
param set MPC_XY_VEL_D 0.005
posix-configs/SITL/init/rcS_lpe_gazebo_iris_opt_flow
+6 -4
View File
@@ -1,10 +1,6 @@
uorb start
param load
param set MAV_TYPE 2
param set MC_PITCHRATE_P 0.3
param set MC_ROLLRATE_P 0.3
param set MC_YAW_P 2.0
param set MC_YAWRATE_P 0.35
param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2
dataman start
@@ -21,6 +17,12 @@ param set CAL_ACC0_YSCALE 1.01
param set CAL_ACC0_ZSCALE 1.01
param set CAL_ACC1_XOFF 0.01
param set CAL_MAG0_XOFF 0.01
param set MC_ROLLRATE_P 0.3
param set MC_PITCHRATE_P 0.3
param set MC_PITCH_P 5.5
param set MC_ROLL_P 5.5
param set MC_ROLLRATE_I 0.1
param set MC_PITCHRATE_I 0.1
param set MPC_XY_P 0.15
param set MPC_XY_VEL_P 0.05
param set MPC_XY_VEL_D 0.005
posix-configs/SITL/init/rcS_lpe_jmavsim_iris
+6 -6
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@@ -1,12 +1,6 @@
uorb start
param load
param set MAV_TYPE 2
param set MC_PITCHRATE_P 0.15
param set MC_PITCH_P 7
param set MC_ROLL_P 7
param set MC_ROLLRATE_P 0.15
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.35
param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2
dataman start
@@ -23,6 +17,12 @@ param set CAL_ACC0_YSCALE 1.01
param set CAL_ACC0_ZSCALE 1.01
param set CAL_ACC1_XOFF 0.01
param set CAL_MAG0_XOFF 0.01
param set MC_ROLLRATE_P 0.3
param set MC_PITCHRATE_P 0.3
param set MC_PITCH_P 5.5
param set MC_ROLL_P 5.5
param set MC_ROLLRATE_I 0.1
param set MC_PITCHRATE_I 0.1
param set MPC_XY_P 0.4
param set MPC_XY_VEL_P 0.2
param set MPC_XY_VEL_D 0.005
posix-configs/SITL/init/rcS_multiple_gazebo_iris
+6 -4
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@@ -2,10 +2,6 @@ uorb start
simulator start -s -u _SIMPORT_
param load
param set MAV_TYPE 2
param set MC_PITCHRATE_P 0.3
param set MC_ROLLRATE_P 0.3
param set MC_YAW_P 2.0
param set MC_YAWRATE_P 0.35
param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2
dataman start
@@ -22,6 +18,12 @@ param set CAL_ACC0_YSCALE 1.01
param set CAL_ACC0_ZSCALE 1.01
param set CAL_ACC1_XOFF 0.01
param set CAL_MAG0_XOFF 0.01
param set MC_ROLLRATE_P 0.3
param set MC_PITCHRATE_P 0.3
param set MC_PITCH_P 5.5
param set MC_ROLL_P 5.5
param set MC_ROLLRATE_I 0.1
param set MC_PITCHRATE_I 0.1
param set MPC_XY_P 0.15
param set MPC_XY_VEL_P 0.05
param set MPC_XY_VEL_D 0.005