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Standard VTOL configs: Limit yaw rate

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This commit is contained in:
Lorenz Meier
2016-09-22 12:22:50 +02:00
parent 11f8da5fc6
commit e42ff72d6a
4 changed files with 7 additions and 0 deletions
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ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad
+2
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@@ -33,6 +33,8 @@ then
param set MC_YAWRATE_I 0.02 param set MC_YAWRATE_I 0.02
param set MC_YAWRATE_D 0.0 param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_FF 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_FF 0.5
param set FW_PR_I 0.02 param set FW_PR_I 0.02
ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad
+2
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@@ -31,6 +31,8 @@ then
param set MC_YAWRATE_I 0.02 param set MC_YAWRATE_I 0.02
param set MC_YAWRATE_D 0.0 param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_FF 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_MOT_COUNT 4
param set VT_IDLE_PWM_MC 1080 param set VT_IDLE_PWM_MC 1080
ROMFS/px4fmu_common/init.d/13008_QuadRanger
+2
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@@ -34,6 +34,8 @@ then
param set MC_YAWRATE_I 0.04 param set MC_YAWRATE_I 0.04
param set MC_YAWRATE_D 0.0 param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_FF 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_ACC_HOR_MAX 2.0
param set MPC_Z_VEL_MAX 1.5 param set MPC_Z_VEL_MAX 1.5
ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger
+1
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@@ -45,6 +45,7 @@ then
param set MC_YAWRATE_I 0.02 param set MC_YAWRATE_I 0.02
param set MC_YAWRATE_MAX 40.0 param set MC_YAWRATE_MAX 40.0
param set MC_YAWRATE_P 0.18 param set MC_YAWRATE_P 0.18
param set MC_YAWRATE_MAX 40.0
param set MC_YAWRAUTO_MAX 40.0 param set MC_YAWRAUTO_MAX 40.0
param set MIS_TAKEOFF_ALT 2.5 param set MIS_TAKEOFF_ALT 2.5