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autotest: adjust default plane tune

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This commit is contained in:
Andrew Tridgell 2021-04-03 21:59:07 +11:00
parent 7e64875a02
commit be161744db
2 changed files with 26 additions and 24 deletions
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25
Tools/autotest/default_params/plane-jsbsim.parm
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@ -54,14 +54,19 @@ FLTMODE6 0
FLTMODE_CH 8 FLTMODE_CH 8
WP_LOITER_RAD 80 WP_LOITER_RAD 80
WP_RADIUS 50 WP_RADIUS 50
RLL_RATE_D 0.000000 RLL2SRV_RMAX 90
RLL_RATE_I 0.150000 RLL2SRV_TCONST 0.250000
RLL_RATE_P 0.200000 RLL_RATE_D 0.017430
RLL2SRV_RMAX 0 RLL_RATE_FF 0.237212
RLL2SRV_TCONST 0.5 RLL_RATE_I 0.25
PTCH_RATE_D 0.000000 RLL_RATE_P 0.3
PTCH_RATE_I 0.150000 PTCH2SRV_RMAX_DN 90
PTCH_RATE_P 0.200000 PTCH2SRV_RMAX_UP 90
PTCH2SRV_TCONST 0.25
PTCH_RATE_D 0.007265
PTCH_RATE_FF 0.595723
PTCH_RATE_I 0.11
PTCH_RATE_P 0.15
PTCH2SRV_RLL 1 PTCH2SRV_RLL 1
NAVL1_PERIOD 15 NAVL1_PERIOD 15
ACRO_LOCKING 1 ACRO_LOCKING 1
@ -79,7 +84,3 @@ INS_ACC2SCAL_X 1.001
INS_ACC2SCAL_Y 1.001 INS_ACC2SCAL_Y 1.001
INS_ACC2SCAL_Z 1.001 INS_ACC2SCAL_Z 1.001
INS_GYR_CAL 0 INS_GYR_CAL 0
PTCH_RATE_FF 0.975000
PTCH_RATE_IMAX 0.666667
RLL_RATE_FF 0.975000
RLL_RATE_IMAX 0.666667

25
Tools/autotest/default_params/plane.parm
View File

@ -50,14 +50,19 @@ FLTMODE6 0
FLTMODE_CH 8 FLTMODE_CH 8
WP_LOITER_RAD 80 WP_LOITER_RAD 80
WP_RADIUS 50 WP_RADIUS 50
RLL_RATE_D 0.000000 RLL2SRV_RMAX 90
RLL_RATE_I 0.150000 RLL2SRV_TCONST 0.250000
RLL_RATE_P 0.200000 RLL_RATE_D 0.017430
RLL2SRV_RMAX 0 RLL_RATE_FF 0.237212
RLL2SRV_TCONST 0.5 RLL_RATE_I 0.25
PTCH_RATE_D 0.000000 RLL_RATE_P 0.3
PTCH_RATE_I 0.150000 PTCH2SRV_RMAX_DN 90
PTCH_RATE_P 0.200000 PTCH2SRV_RMAX_UP 90
PTCH2SRV_TCONST 0.25
PTCH_RATE_D 0.007265
PTCH_RATE_FF 0.595723
PTCH_RATE_I 0.11
PTCH_RATE_P 0.15
PTCH2SRV_RLL 1 PTCH2SRV_RLL 1
NAVL1_PERIOD 15 NAVL1_PERIOD 15
ACRO_LOCKING 1 ACRO_LOCKING 1
@ -75,7 +80,3 @@ INS_ACC2SCAL_X 1.001
INS_ACC2SCAL_Y 1.001 INS_ACC2SCAL_Y 1.001
INS_ACC2SCAL_Z 1.001 INS_ACC2SCAL_Z 1.001
INS_GYR_CAL 0 INS_GYR_CAL 0
PTCH_RATE_FF 0.975000
PTCH_RATE_IMAX 0.666667
RLL_RATE_FF 0.975000
RLL_RATE_IMAX 0.666667