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Tools: update SITL tri and hexa gains

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This commit is contained in:
Randy Mackay 2021-06-08 13:44:24 +09:00 committed by Peter Barker
parent 3be7f1ae23
commit 058d4299ad
2 changed files with 3 additions and 30 deletions
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21
Tools/autotest/default_params/copter-hexa.parm
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@ -1,22 +1 @@
FRAME_CLASS 2 FRAME_CLASS 2
ATC_ACCEL_P_MAX 100000
ATC_ACCEL_R_MAX 100000
ATC_ACCEL_Y_MAX 18000
ATC_ANG_PIT_P 10
ATC_ANG_RLL_P 10
ATC_ANG_YAW_P 6.819923
ATC_RAT_PIT_D 0.003066369
ATC_RAT_PIT_I 0.3672593
ATC_RAT_PIT_IMAX 0.5
ATC_RAT_PIT_P 0.3672593
ATC_RAT_RLL_D 0.002667568
ATC_RAT_RLL_I 0.3180474
ATC_RAT_RLL_IMAX 0.5
ATC_RAT_RLL_P 0.3180474
ATC_RATE_FF_ENAB 1
ATC_RATE_P_MAX 0
ATC_RATE_R_MAX 0
ATC_RATE_Y_MAX 0
MOT_THST_EXPO 0
MOT_THST_HOVER 0.4831406
MOT_YAW_HEADROOM 300

12
Tools/autotest/default_params/copter-tri.parm
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@ -2,12 +2,6 @@ SERVO7_MIN 1000
SERVO7_MAX 2000 SERVO7_MAX 2000
SERVO7_TRIM 1360 SERVO7_TRIM 1360
FRAME_CLASS 7 FRAME_CLASS 7
# autotune results for roll/pitch ATC_RAT_YAW_I 0.09
ATC_RAT_PIT_D 0.003601 ATC_RAT_YAW_I 0.11
ATC_RAT_PIT_I 0.425690 ATC_RAT_YAW_FLTE 5.0
ATC_RAT_PIT_IMAX 0.444000
ATC_RAT_PIT_P 0.425690
ATC_RAT_RLL_D 0.006667
ATC_RAT_RLL_I 0.838628
ATC_RAT_RLL_IMAX 0.444000
ATC_RAT_RLL_P 0.838628