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SITL: improved AirSim quadX tuning

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and move params to normal location, so they are found with
sim_vehicle.py
This commit is contained in:
Andrew Tridgell 2019-12-17 09:21:07 +11:00
parent d657fed34a
commit 061d778bfd
4 changed files with 22 additions and 29 deletions
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20
Tools/autotest/default_params/airsim-quadX.parm Normal file
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@ -0,0 +1,20 @@
ATC_RAT_PIT_D 0.003
ATC_RAT_PIT_I 0.25
ATC_RAT_PIT_P 0.25
ATC_RAT_RLL_D 0.003
ATC_RAT_RLL_I 0.25
ATC_RAT_RLL_P 0.25
DISARM_DELAY 0.000000
FRAME_TYPE 1.000000
FS_CRASH_CHECK 0.000000
LOG_BITMASK 65535
MOT_THST_HOVER 0.461
MOT_THST_EXPO 0.0
SCHED_LOOP_RATE 300
WPNAV_ACCEL 400
WPNAV_ACCEL_Z 200
WPNAV_SPEED_UP 400
WPNAV_SPEED_DN 300
WPNAV_SPEED 2000
RTL_ALT 2500
ANGLE_MAX 3000

3
Tools/autotest/pysim/vehicleinfo.py
View File

@ -94,7 +94,8 @@ class VehicleInfo(object):
},
"airsim-copter": {
"waf_target": "bin/arducopter",
"default_params_filename": "default_params/copter.parm",
"default_params_filename": ["default_params/copter.parm",
"default_params/airsim-quadX.parm"],
},
# HELICOPTER
"heli": {

14
libraries/SITL/examples/Airsim/quadX.parm
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@ -1,14 +0,0 @@
ATC_RAT_PIT_D 0.001000
ATC_RAT_PIT_I 0.070000
ATC_RAT_PIT_P 0.070000
ATC_RAT_RLL_D 0.001000
ATC_RAT_RLL_I 0.070000
ATC_RAT_RLL_P 0.070000
AUTOTUNE_AXES 1.000000
DISARM_DELAY 0.000000
FRAME_TYPE 1.000000
FS_CRASH_CHECK 0.000000
LOG_BITMASK 65535.000000
MOT_THST_HOVER 0.416806
PSC_POSZ_P 0.500000
PSC_VELZ_P 2.000000

14
libraries/SITL/examples/Airsim/quadX_lidar.parm
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@ -1,16 +1,2 @@
ATC_RAT_PIT_D 0.001000
ATC_RAT_PIT_I 0.070000
ATC_RAT_PIT_P 0.070000
ATC_RAT_RLL_D 0.001000
ATC_RAT_RLL_I 0.070000
ATC_RAT_RLL_P 0.070000
AUTOTUNE_AXES 1.000000
DISARM_DELAY 0.000000
FRAME_TYPE 1.000000
FS_CRASH_CHECK 0.000000
LOG_BITMASK 65535.000000
MOT_THST_HOVER 0.416806
PSC_POSZ_P 0.500000
PSC_VELZ_P 2.000000
PRX_TYPE 12
AVOID_ENABLE 7