From e42ff72d6a2a24c3fde35a7096d02fbe4a47f948 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 22 Sep 2016 12:22:50 +0200 Subject: [PATCH] Standard VTOL configs: Limit yaw rate --- ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad | 2 ++ ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad | 2 ++ ROMFS/px4fmu_common/init.d/13008_QuadRanger | 2 ++ ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger | 1 + 4 files changed, 7 insertions(+) diff --git a/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad b/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad index 84219f22c8..964228d416 100644 --- a/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad +++ b/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad @@ -33,6 +33,8 @@ then param set MC_YAWRATE_I 0.02 param set MC_YAWRATE_D 0.0 param set MC_YAWRATE_FF 0.0 + param set MC_YAWRATE_MAX 20 + param set MC_YAWRAUTO_MAX 20 param set FW_PR_FF 0.5 param set FW_PR_I 0.02 diff --git a/ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad b/ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad index 0b25133e99..f940990726 100644 --- a/ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad +++ b/ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad @@ -31,6 +31,8 @@ then param set MC_YAWRATE_I 0.02 param set MC_YAWRATE_D 0.0 param set MC_YAWRATE_FF 0.0 + param set MC_YAWRATE_MAX 20 + param set MC_YAWRAUTO_MAX 20 param set VT_MOT_COUNT 4 param set VT_IDLE_PWM_MC 1080 diff --git a/ROMFS/px4fmu_common/init.d/13008_QuadRanger b/ROMFS/px4fmu_common/init.d/13008_QuadRanger index f47c06f0c7..b2100c21d1 100644 --- a/ROMFS/px4fmu_common/init.d/13008_QuadRanger +++ b/ROMFS/px4fmu_common/init.d/13008_QuadRanger @@ -34,6 +34,8 @@ then param set MC_YAWRATE_I 0.04 param set MC_YAWRATE_D 0.0 param set MC_YAWRATE_FF 0.0 + param set MC_YAWRATE_MAX 40.0 + param set MC_YAWRAUTO_MAX 40.0 param set MPC_ACC_HOR_MAX 2.0 param set MPC_Z_VEL_MAX 1.5 diff --git a/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger b/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger index 58b2cdd3c2..16546cf363 100644 --- a/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger +++ b/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger @@ -45,6 +45,7 @@ then param set MC_YAWRATE_I 0.02 param set MC_YAWRATE_MAX 40.0 param set MC_YAWRATE_P 0.18 + param set MC_YAWRATE_MAX 40.0 param set MC_YAWRAUTO_MAX 40.0 param set MIS_TAKEOFF_ALT 2.5