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Tools: improve tradheli sitl default params

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Bill Geyer 2022-01-26 19:05:50 -05:00 committed by Bill Geyer
parent 3045451769
commit 2d81e01b10
1 changed files with 29 additions and 18 deletions
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47
Tools/autotest/default_params/copter-heli.parm
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@ -34,28 +34,39 @@ INS_ACC3SCAL_X 1.000
INS_ACC3SCAL_Y 1.000 INS_ACC3SCAL_Y 1.000
INS_ACC3SCAL_Z 1.000 INS_ACC3SCAL_Z 1.000
ATC_INPUT_TC 0.20 ATC_INPUT_TC 0.20
ATC_RAT_PIT_P 0.05 ATC_ANG_PIT_P 6
ATC_RAT_PIT_I 0.15 ATC_ANG_RLL_P 4
ATC_RAT_PIT_D 0.006 ATC_ANG_YAW_P 5.8
ATC_RAT_PIT_IMAX 0.4 ATC_RAT_PIT_D 0.002
ATC_RAT_PIT_FLTD 0
ATC_RAT_PIT_FLTE 20
ATC_RAT_PIT_FLTT 20
ATC_RAT_PIT_I 0.095
ATC_RAT_PIT_ILMI 0.1 ATC_RAT_PIT_ILMI 0.1
ATC_RAT_PIT_VFF 0.25 ATC_RAT_PIT_IMAX 0.4
ATC_RAT_RLL_P 0.05 ATC_RAT_PIT_P 0.024
ATC_RAT_RLL_I 0.15 ATC_RAT_PIT_VFF 0.19
ATC_RAT_RLL_D 0.003 ATC_RAT_RLL_D 0.0001
ATC_RAT_RLL_IMAX 0.4 ATC_RAT_RLL_FLTD 0
ATC_RAT_RLL_FLTE 20
ATC_RAT_RLL_FLTT 20
ATC_RAT_RLL_I 0.105
ATC_RAT_RLL_ILMI 0.1 ATC_RAT_RLL_ILMI 0.1
ATC_RAT_RLL_VFF 0.3 ATC_RAT_RLL_IMAX 0.4
ATC_RAT_YAW_P 0.35 ATC_RAT_RLL_P 0.06
ATC_RAT_YAW_I 0.088 ATC_RAT_RLL_VFF 0.21
ATC_RAT_YAW_D 0.02 ATC_RAT_YAW_D 0.0039
ATC_RAT_YAW_VFF 0.0 ATC_RAT_YAW_FLTD 0
ATC_ANG_PIT_P 6.0 ATC_RAT_YAW_FLTE 0
ATC_ANG_RLL_P 6.0 ATC_RAT_YAW_FLTT 20
ATC_ANG_YAW_P 4.5 ATC_RAT_YAW_I 0.0245
ATC_RAT_YAW_ILMI 0
ATC_RAT_YAW_IMAX 1
ATC_RAT_YAW_P 0.24685
ATC_RAT_YAW_VFF 0.000000
ATC_ACCEL_P_MAX 60000 ATC_ACCEL_P_MAX 60000
ATC_ACCEL_R_MAX 60000 ATC_ACCEL_R_MAX 60000
ATC_ACCEL_Y_MAX 27000 ATC_ACCEL_Y_MAX 60000
ATC_HOVR_ROL_TRM 320 ATC_HOVR_ROL_TRM 320
H_COL_MAX 1740 H_COL_MAX 1740
H_COL_MIN 1460 H_COL_MIN 1460