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Frame_params: fixed scaling errors in Bebop parameters

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This commit is contained in:
Andrew Tridgell 2016-10-18 08:26:50 +11:00
parent 20dcd6e082
commit fe3d57b19c
1 changed files with 24 additions and 29 deletions
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53
Tools/Frame_params/Parrot_Bebop.param
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@ -1,30 +1,25 @@
#NOTE: Bebop default parameters #NOTE: Bebop default parameters
ARMING_CHECK,126 ARMING_CHECK,126
ATC_ACCEL_P_MAX,220000 ATC_ACCEL_P_MAX,220000
ATC_ACCEL_R_MAX,220000 ATC_ACCEL_R_MAX,220000
ATC_ACCEL_Y_MAX,56000 ATC_ACCEL_Y_MAX,56000
BATT_MONITOR,6 BATT_MONITOR,6
INS_GYRO_FILTER,40 INS_GYRO_FILTER,40
MOT_THST_EXPO,0.05 MOT_THST_EXPO,0.05
MOT_SPIN_MAX,1.00 MOT_SPIN_MAX,1.00
MOT_YAW_HEADROOM,200 ATC_RAT_PIT_D,0.0022
POS_XY_P,1 ATC_RAT_PIT_FILT,40
ATC_RAT_PIT_D,0.0022 ATC_RAT_PIT_I,0.126
ATC_RAT_PIT_FILT,40 ATC_RAT_PIT_P,0.126
ATC_RAT_PIT_I,0.126 ATC_RAT_RLL_D,0.0005
ATC_RAT_PIT_IMAX,2000 ATC_RAT_RLL_FILT,40
ATC_RAT_PIT_P,0.126 ATC_RAT_RLL_I,0.11
ATC_RAT_RLL_D,0.0005 ATC_RAT_RLL_P,0.11
ATC_RAT_RLL_FILT,40 ATC_RAT_YAW_D,0
ATC_RAT_RLL_I,0.11 ATC_RAT_YAW_FILT,3.0
ATC_RAT_RLL_IMAX,2000 ATC_RAT_YAW_I,0.103
ATC_RAT_RLL_P,0.11 ATC_RAT_YAW_P,1.03
ATC_RAT_YAW_D,0 ATC_ANG_PIT_P,15
ATC_RAT_YAW_FILT,3.0 ATC_ANG_RLL_P,10
ATC_RAT_YAW_I,0.103 ATC_ANG_YAW_P,12
ATC_RAT_YAW_IMAX,1000 MOT_SPIN_MIN,0.13
ATC_RAT_YAW_P,1.03
ATC_ANG_PIT_P,15
ATC_ANG_RLL_P,10
ATC_ANG_YAW_P,12
MOT_SPIN_MIN,130