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autotest: Add usable default parameters for Blimp's position and velocity PIDs

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Michelle Rossouw 2021-09-15 00:38:38 +10:00 committed by Andrew Tridgell
parent c9a3b16aa7
commit 9eb3a063d8
1 changed files with 54 additions and 0 deletions
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54
Tools/autotest/default_params/blimp.parm
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@ -74,3 +74,57 @@ INS_ACC3SCAL_Z 1.000
ARMING_RUDDER 0 ARMING_RUDDER 0
GCS_PID_MASK 255 GCS_PID_MASK 255
# default PID params for position and velocity-controlled modes
MAX_POS_XY 0.3
MAX_POS_YAW 0.3
MAX_POS_Z 0.15
MAX_VEL_XY 0.4
MAX_VEL_YAW 0.5
MAX_VEL_Z 0.2
VELXY_D 0.0
VELXY_FF 0.0
VELXY_FLTD 3.0
VELXY_FLTE 3.0
VELXY_I 1.5
VELXY_IMAX 5.0
VELXY_P 5.0
VELYAW_D 0.0
VELYAW_FF 0.0
VELYAW_FLTD 3.0
VELYAW_FLTE 3.0
VELYAW_I 0.8
VELYAW_IMAX 5.0
VELYAW_P 15.0
VELZ_D 0.0
VELZ_FF 0.0
VELZ_FLTD 3.0
VELZ_FLTE 3.0
VELZ_I 1.0
VELZ_IMAX 2.0
VELZ_P 15.0
POSXY_D 0.0
POSXY_FF 0.0
POSXY_FLTD 3.0
POSXY_FLTE 3.0
POSXY_I 0.05
POSXY_IMAX 0.1
POSXY_P 1.0
POSYAW_D 0.0
POSYAW_FF 0.0
POSYAW_FLTD 3.0
POSYAW_FLTE 3.0
POSYAW_FLTT 3.0
POSYAW_I 0.1
POSYAW_IMAX 1.0
POSYAW_P 1.0
POSYAW_SMAX 0.0
POSZ_D 0.0
POSZ_FF 0.0
POSZ_FLTD 3.0
POSZ_FLTE 3.0
POSZ_I 0.0
POSZ_IMAX 0.0
POSZ_P 0.7