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Tools:TradHeli - update param files to lower gains for ACCZ_P, and Position Controller velocity request

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This commit is contained in:
ChristopherOlson 2018-08-11 22:18:59 -05:00 committed by Randy Mackay
parent 0f7c837d2d
commit 2d89bcaef6
4 changed files with 17 additions and 17 deletions
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8
Tools/Frame_params/TradHeli_Copter36_Setup-MP.param
View File

@ -53,17 +53,17 @@ PSC_ACCZ_FF, 0.0
PSC_ACCZ_FILT, 20
PSC_ACCZ_I, 1
PSC_ACCZ_IMAX, 800
PSC_ACCZ_P, 0.30
PSC_ACCZ_P, 0.28
PSC_ACC_XY_FILT, 2
PSC_ANGLE_MAX, 0.0
PSC_POSXY_P, 1
PSC_POSZ_P, 1
PSC_VELXY_D, 0.5
PSC_VELXY_D, 0.0
PSC_VELXY_D_FILT, 5
PSC_VELXY_FILT, 5
PSC_VELXY_I, 1
PSC_VELXY_I, 0.5
PSC_VELXY_IMAX, 1000
PSC_VELXY_P, 2
PSC_VELXY_P, 1
PSC_VELZ_P, 5
WPNAV_ACCEL, 220
WPNAV_ACCEL_Z, 100

8
Tools/Frame_params/TradHeli_Copter36_Setup-QGC.params
View File

@ -54,17 +54,17 @@
1 1 PSC_ACCZ_FILT 20 9
1 1 PSC_ACCZ_I 1 9
1 1 PSC_ACCZ_IMAX 800 9
1 1 PSC_ACCZ_P 0.30 9
1 1 PSC_ACCZ_P 0.28 9
1 1 PSC_ACC_XY_FILT 2 9
1 1 PSC_ANGLE_MAX 0 9
1 1 PSC_POSXY_P 1 9
1 1 PSC_POSZ_P 1 9
1 1 PSC_VELXY_D 0.5 9
1 1 PSC_VELXY_D 0.0 9
1 1 PSC_VELXY_D_FILT 5 9
1 1 PSC_VELXY_FILT 5 9
1 1 PSC_VELXY_I 1 9
1 1 PSC_VELXY_I 0.5 9
1 1 PSC_VELXY_IMAX 1000 9
1 1 PSC_VELXY_P 2 9
1 1 PSC_VELXY_P 1 9
1 1 PSC_VELZ_P 5 9
1 1 WPNAV_ACCEL 220 9
1 1 WPNAV_ACCEL_Z 100 9

8
Tools/Frame_params/TradHeli_Copter36_Upgrade-MP.param
View File

@ -16,17 +16,17 @@ PSC_ACCZ_FF, 0.0
PSC_ACCZ_FILT, 20
PSC_ACCZ_I, 1
PSC_ACCZ_IMAX, 800
PSC_ACCZ_P, 0.30
PSC_ACCZ_P, 0.28
PSC_ACC_XY_FILT, 2
PSC_ANGLE_MAX, 0.0
PSC_POSXY_P, 1
PSC_POSZ_P, 1
PSC_VELXY_D, 0.5
PSC_VELXY_D, 0.0
PSC_VELXY_D_FILT, 5
PSC_VELXY_FILT, 5
PSC_VELXY_I, 1
PSC_VELXY_I, 0.5
PSC_VELXY_IMAX, 1000
PSC_VELXY_P, 2
PSC_VELXY_P, 1
PSC_VELZ_P, 5
WPNAV_ACCEL, 220
WPNAV_ACCEL_Z, 100

10
Tools/Frame_params/TradHeli_Copter36_Upgrade-QGC.params
View File

@ -17,17 +17,17 @@
1 1 PSC_ACCZ_FILT 20 9
1 1 PSC_ACCZ_I 1 9
1 1 PSC_ACCZ_IMAX 800 9
1 1 PSC_ACCZ_P 0.3 9
1 1 PSC_ACCZ_P 0.28 9
1 1 PSC_ACC_XY_FILT 2 9
1 1 PSC_ANGLE_MAX 0 9
1 1 PSC_POSXY_P 1 9
1 1 PSC_POSZ_P 1 9
1 1 PSC_VELXY_D 0.5 9
1 1 PSC_POSZ_P 1 9
1 1 PSC_VELXY_D 0.0 9
1 1 PSC_VELXY_D_FILT 5 9
1 1 PSC_VELXY_FILT 5 9
1 1 PSC_VELXY_I 1 9
1 1 PSC_VELXY_I 0.5 9
1 1 PSC_VELXY_IMAX 1000 9
1 1 PSC_VELXY_P 2 9
1 1 PSC_VELXY_P 1 9
1 1 PSC_VELZ_P 5 9
1 1 WPNAV_ACCEL 220 9
1 1 WPNAV_ACCEL_Z 100 9