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Tools: reduce copter autotest rate yaw P and I gains 

affects quad, hexa, octa, octa-quad, deca, tri, y6, dodeca-hexa
This commit is contained in:
Randy Mackay 2021-06-02 16:40:35 +09:00
parent 3f77c52720
commit e8947dfb47
6 changed files with 10 additions and 15 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
Tools/autotest/default_params/copter-deca.parm
View File

@ -1 +1,3 @@
FRAME_CLASS 14 FRAME_CLASS 14
ATC_RAT_YAW_P 0.04
ATC_RAT_YAW_I 0.004

2
Tools/autotest/default_params/copter-dodecahexa.parm
View File

@ -1 +1,3 @@
FRAME_CLASS 12 FRAME_CLASS 12
ATC_RAT_YAW_P 0.04
ATC_RAT_YAW_I 0.004

5
Tools/autotest/default_params/copter-hexa.parm
View File

@ -13,11 +13,6 @@ ATC_RAT_RLL_D 0.002667568
ATC_RAT_RLL_I 0.3180474 ATC_RAT_RLL_I 0.3180474
ATC_RAT_RLL_IMAX 0.5 ATC_RAT_RLL_IMAX 0.5
ATC_RAT_RLL_P 0.3180474 ATC_RAT_RLL_P 0.3180474
ATC_RAT_YAW_D 0
ATC_RAT_YAW_FLTD 5
ATC_RAT_YAW_I 0.06603496
ATC_RAT_YAW_IMAX 0.25
ATC_RAT_YAW_P 0.6603495
ATC_RATE_FF_ENAB 1 ATC_RATE_FF_ENAB 1
ATC_RATE_P_MAX 0 ATC_RATE_P_MAX 0
ATC_RATE_R_MAX 0 ATC_RATE_R_MAX 0

7
Tools/autotest/default_params/copter-octaquad.parm
View File

@ -13,11 +13,8 @@ ATC_RAT_RLL_D 0.002219906
ATC_RAT_RLL_I 0.1232151 ATC_RAT_RLL_I 0.1232151
ATC_RAT_RLL_IMAX 1 ATC_RAT_RLL_IMAX 1
ATC_RAT_RLL_P 0.1232151 ATC_RAT_RLL_P 0.1232151
ATC_RAT_YAW_D 0 ATC_RAT_YAW_P 0.04
ATC_RAT_YAW_FLTD 5 ATC_RAT_YAW_I 0.004
ATC_RAT_YAW_I 0.04692981
ATC_RAT_YAW_IMAX 0.5
ATC_RAT_YAW_P 0.4692981
ATC_RATE_FF_ENAB 1 ATC_RATE_FF_ENAB 1
ATC_RATE_P_MAX 0 ATC_RATE_P_MAX 0
ATC_RATE_R_MAX 0 ATC_RATE_R_MAX 0

7
Tools/autotest/default_params/copter-y6.parm
View File

@ -13,11 +13,8 @@ ATC_RAT_RLL_D 0.002629029
ATC_RAT_RLL_I 0.315668 ATC_RAT_RLL_I 0.315668
ATC_RAT_RLL_IMAX 0.75 ATC_RAT_RLL_IMAX 0.75
ATC_RAT_RLL_P 0.315668 ATC_RAT_RLL_P 0.315668
ATC_RAT_YAW_D 0 ATC_RAT_YAW_P 0.04
ATC_RAT_YAW_FLTE 5 ATC_RAT_YAW_I 0.004
ATC_RAT_YAW_I 0.06521364
ATC_RAT_YAW_IMAX 0.5
ATC_RAT_YAW_P 0.6521364
ATC_RATE_FF_ENAB 1 ATC_RATE_FF_ENAB 1
ATC_RATE_P_MAX 0 ATC_RATE_P_MAX 0
ATC_RATE_R_MAX 0 ATC_RATE_R_MAX 0

2
Tools/autotest/default_params/copter.parm
View File

@ -1,5 +1,7 @@
FRAME_TYPE 0 FRAME_TYPE 0
FS_THR_ENABLE 1 FS_THR_ENABLE 1
ATC_RAT_YAW_P 0.09
ATC_RAT_YAW_I 0.009
BATT_MONITOR 4 BATT_MONITOR 4
COMPASS_OFS_X 5 COMPASS_OFS_X 5
COMPASS_OFS_Y 13 COMPASS_OFS_Y 13