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autotest: tweak plane autotest mission and parameters

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a bit better with the new controllers
This commit is contained in:
Andrew Tridgell 2013-05-31 15:31:59 +10:00
parent f4efa92d3b
commit 2cb28076c8
3 changed files with 17 additions and 9 deletions
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18
Tools/autotest/ArduPlane.parm
View File

@ -7,7 +7,8 @@ TRIM_THROTTLE 50
LIM_PITCH_MIN -2000
LIM_PITCH_MAX 2500
LIM_ROLL_CD 6500
LAND_PITCH_CD 300
LAND_PITCH_CD 100
LAND_FLARE_SEC 5
WHEELSTEER_D 0.1
WHEELSTEER_I 0.5
WHEELSTEER_IMAX 500
@ -18,7 +19,6 @@ ARSP2PTCH_I 0.1
ARSPD_FBW_MAX 30
ARSPD_FBW_MIN 10
KFF_RDDRMIX 0.5
KFF_PTCHCOMP 0.3
THR_MAX 100
ENRGY2THR_P 0.25
ENRGY2THR_D 0.2
@ -57,8 +57,16 @@ FLTMODE5 2
FLTMODE6 0
FLTMODE_CH 8
PTCH2SRV_P 1.5
RLL2SRV_I 0.01
RLL2SRV_IMAX 100
RLL2SRV_P 0.8
WP_LOITER_RAD 80
WP_RADIUS 50
YW2SRV_P 1.0
RLL2SRV_D 0
RLL2SRV_I 0.01
RLL2SRV_P 2.0
RLL2SRV_RMAX 0
RLL2SRV_TCONST 0.5
PTCH2SRV_D 0.0
PTCH2SRV_I 0.2
PTCH2SRV_P 1.5
PTCH2SRV_RLL 1.25
NAVL1_PERIOD 21

6
Tools/autotest/ap1.txt
View File

@ -3,7 +3,7 @@ QGC WPL 110
1 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361553 149.163956 100.000000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364540 149.162857 100.000000 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361721 149.161835 40.000000 1
4 0 3 178 0.000000 12.00000 0.000000 0.000000 0.000000 0.000000 15.000000 1
5 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.367970 149.164124 25.000000 1
6 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.366814 149.165878 20.000000 1
4 0 3 178 0.000000 13.00000 0.000000 0.000000 0.000000 0.000000 15.000000 1
5 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.367970 149.164124 28.000000 1
6 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.366814 149.165878 28.000000 1
7 0 3 21 0.000000 0.000000 0.000000 0.000000 -35.362911 149.165222 0.000000 1

2
Tools/autotest/arduplane.py
View File

@ -228,7 +228,7 @@ def fly_ArduPlane(viewerip=None, map=False):
if viewerip:
options += " --out=%s:14550" % viewerip
if map:
options += ' --map --console'
options += ' --map'
sil = util.start_SIL('ArduPlane', wipe=True)
mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)