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Tools: update tradheli sitl default param file

This commit is contained in:
bnsgeyer 2020-04-20 22:33:21 -04:00 committed by Andrew Tridgell
parent 2cb54bb11d
commit bf86059229
1 changed files with 29 additions and 20 deletions
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49
Tools/autotest/default_params/copter-heli.parm
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@ -33,22 +33,34 @@ INS_ACC3OFFS_Z 0.000
INS_ACC3SCAL_X 1.000
INS_ACC3SCAL_Y 1.000
INS_ACC3SCAL_Z 1.000
ATC_RAT_PIT_P 0.900
ATC_RAT_PIT_I 11.250
ATC_RAT_PIT_D 0.045
ATC_RAT_PIT_IMAX 1.000
ATC_RAT_PIT_VFF 0.200
ATC_RAT_RLL_P 0.9000
ATC_RAT_RLL_I 11.250
ATC_RAT_RLL_D 0.045
ATC_RAT_RLL_IMAX 1.0000
ATC_RAT_RLL_VFF 0.200
ATC_INPUT_TC 0.20
ATC_RAT_PIT_P 0.05
ATC_RAT_PIT_I 0.15
ATC_RAT_PIT_D 0.006
ATC_RAT_PIT_IMAX 0.4
ATC_RAT_PIT_ILMI 0.1
ATC_RAT_PIT_VFF 0.25
ATC_RAT_RLL_P 0.05
ATC_RAT_RLL_I 0.15
ATC_RAT_RLL_D 0.003
ATC_RAT_RLL_IMAX 0.4
ATC_RAT_RLL_ILMI 0.1
ATC_RAT_RLL_VFF 0.3
ATC_RAT_YAW_P 0.35
ATC_RAT_YAW_I 0.088
ATC_RAT_YAW_D 0.018
ATC_RAT_YAW_VFF 0.200000
ATC_ANG_PIT_P 12.5368
ATC_ANG_RLL_P 15.2386
ATC_ANG_YAW_P 7.6965
ATC_RAT_YAW_D 0.02
ATC_RAT_YAW_VFF 0.0
ATC_ANG_PIT_P 6.0
ATC_ANG_RLL_P 6.0
ATC_ANG_YAW_P 4.5
ATC_ACCEL_P_MAX 60000
ATC_ACCEL_R_MAX 60000
ATC_ACCEL_Y_MAX 27000
ATC_HOVR_ROL_TRM 320
H_COL_MAX 1740
H_COL_MID 1500
H_COL_MIN 1460
H_RSC_MODE 2
RC1_MAX 2000.000000
RC1_MIN 1000.000000
RC1_TRIM 1500.000000
@ -73,10 +85,7 @@ RC7_TRIM 1500.000000
RC8_MAX 2000.000000
RC8_MIN 1000.000000
RC8_TRIM 1500.000000
RPM_TYPE 1
WP_YAW_BEHAVIOR 2
IM_ACRO_COL_EXP 0.2
IM_STB_COL_1 40
IM_STB_COL_2 60
IM_STB_COL_3 70
IM_STB_COL_4 90
PSC_VELXY_D 0.5