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Tools: Update blimp parameters for more realistic dynamics

This commit is contained in:
Michelle Rossouw 2023-07-21 21:23:58 +10:00 committed by Andrew Tridgell
parent 26bbd6536a
commit aa09b0b409
1 changed files with 19 additions and 5 deletions
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24
Tools/autotest/default_params/blimp.parm
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@ -38,6 +38,18 @@ RC7_TRIM 1500
RC8_MAX 2000 RC8_MAX 2000
RC8_MIN 1000 RC8_MIN 1000
RC8_TRIM 1500 RC8_TRIM 1500
SERVO1_MAX 2200
SERVO1_MIN 500
SERVO1_TRIM 1350
SERVO2_MAX 2200
SERVO2_MIN 500
SERVO2_TRIM 1350
SERVO3_MAX 2200
SERVO3_MIN 500
SERVO3_TRIM 1350
SERVO4_MAX 2200
SERVO4_MIN 500
SERVO4_TRIM 1350
# setting servo functions for the four fins # setting servo functions for the four fins
SERVO1_FUNCTION 33 SERVO1_FUNCTION 33
@ -76,16 +88,18 @@ INS_ACC3SCAL_Z 1.000
ARMING_RUDDER 0 ARMING_RUDDER 0
GCS_PID_MASK 255 GCS_PID_MASK 255
SIM_SERVO_SPEED 0.06
LOG_BITMASK 65535
# default PID params for position and velocity-controlled modes # default PID params for position and velocity-controlled modes
MAX_POS_XY 0.3 MAX_POS_XY 0.15
MAX_POS_YAW 0.3 MAX_POS_YAW 0.3
MAX_POS_Z 0.15 MAX_POS_Z 0.15
MAX_VEL_XY 0.4 MAX_VEL_XY 0.2
MAX_VEL_YAW 0.5 MAX_VEL_YAW 0.4
MAX_VEL_Z 0.2 MAX_VEL_Z 0.2
VELXY_D 0.0 VELXY_D 1.0
VELXY_FF 0.0 VELXY_FF 0.0
VELXY_FLTD 3.0 VELXY_FLTD 3.0
VELXY_FLTE 3.0 VELXY_FLTE 3.0
@ -98,7 +112,7 @@ VELYAW_FLTD 3.0
VELYAW_FLTE 3.0 VELYAW_FLTE 3.0
VELYAW_I 0.8 VELYAW_I 0.8
VELYAW_IMAX 5.0 VELYAW_IMAX 5.0
VELYAW_P 15.0 VELYAW_P 10.0
VELZ_D 0.0 VELZ_D 0.0
VELZ_FF 0.0 VELZ_FF 0.0
VELZ_FLTD 3.0 VELZ_FLTD 3.0