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Tools: sitl gain update for hexa y6 and octaquad

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This commit is contained in:
Leonard Hall 2018-08-21 10:26:36 +09:00 committed by Randy Mackay
parent 3251e43f03
commit 519be92902
3 changed files with 78 additions and 27 deletions
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39
Tools/autotest/default_params/copter-hexa.parm
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@ -1,14 +1,27 @@
ATC_ANG_LIM_TC,1
ATC_ANG_PIT_P,18
ATC_ANG_RLL_P,18
ATC_ANG_YAW_P,6.6
ATC_RAT_PIT_D,0.0031
ATC_RAT_PIT_I,0.3832
ATC_RAT_PIT_P,0.3832
ATC_RAT_RLL_D,0.0028
ATC_RAT_RLL_I,0.3169
ATC_RAT_RLL_P,0.3169
ATC_RAT_YAW_D,0
ATC_RAT_YAW_I,0.0640
ATC_RAT_YAW_P,0.6400
FRAME_CLASS 2
ATC_ACCEL_P_MAX 100000
ATC_ACCEL_R_MAX 100000
ATC_ACCEL_Y_MAX 18000
ATC_ANG_PIT_P 10
ATC_ANG_RLL_P 10
ATC_ANG_YAW_P 6.819923
ATC_RAT_PIT_D 0.003066369
ATC_RAT_PIT_I 0.3672593
ATC_RAT_PIT_IMAX 0.5
ATC_RAT_PIT_P 0.3672593
ATC_RAT_RLL_D 0.002667568
ATC_RAT_RLL_I 0.3180474
ATC_RAT_RLL_IMAX 0.5
ATC_RAT_RLL_P 0.3180474
ATC_RAT_YAW_D 0
ATC_RAT_YAW_FILT 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_P_MAX 0
ATC_RATE_R_MAX 0
ATC_RATE_Y_MAX 0
MOT_THST_EXPO 0
MOT_THST_HOVER 0.4831406
MOT_YAW_HEADROOM 300

26
Tools/autotest/default_params/copter-octaquad.parm
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@ -1 +1,27 @@
FRAME_CLASS 4
ATC_ACCEL_P_MAX 100000
ATC_ACCEL_R_MAX 100000
ATC_ACCEL_Y_MAX 18000
ATC_ANG_PIT_P 10
ATC_ANG_RLL_P 10
ATC_ANG_YAW_P 6.545896
ATC_RAT_PIT_D 0.002108911
ATC_RAT_PIT_I 0.1170543
ATC_RAT_PIT_IMAX 0.75
ATC_RAT_PIT_P 0.1170543
ATC_RAT_RLL_D 0.002219906
ATC_RAT_RLL_I 0.1232151
ATC_RAT_RLL_IMAX 1
ATC_RAT_RLL_P 0.1232151
ATC_RAT_YAW_D 0
ATC_RAT_YAW_FILT 5
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_P_MAX 0
ATC_RATE_R_MAX 0
ATC_RATE_Y_MAX 0
MOT_THST_EXPO 0
MOT_THST_HOVER 0.4826759
MOT_YAW_HEADROOM 300

40
Tools/autotest/default_params/copter-y6.parm
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@ -1,15 +1,27 @@
FRAME_CLASS 5
# autotune results
ATC_RATE_FF_ENAB 1.000000
ATC_RAT_PIT_D 0.002706
ATC_RAT_PIT_I 0.331873
ATC_RAT_PIT_IMAX 0.444000
ATC_RAT_PIT_P 0.331873
ATC_RAT_RLL_D 0.003133
ATC_RAT_RLL_I 0.349340
ATC_RAT_RLL_IMAX 0.444000
ATC_RAT_RLL_P 0.349340
ATC_RAT_YAW_D 0.000000
ATC_RAT_YAW_I 0.060954
ATC_RAT_YAW_IMAX 0.222000
ATC_RAT_YAW_P 0.609544
ATC_ACCEL_P_MAX 100000
ATC_ACCEL_R_MAX 100000
ATC_ACCEL_Y_MAX 18000
ATC_ANG_PIT_P 10
ATC_ANG_RLL_P 10
ATC_ANG_YAW_P 6.444827
ATC_RAT_PIT_D 0.002727417
ATC_RAT_PIT_I 0.3462861
ATC_RAT_PIT_IMAX 1
ATC_RAT_PIT_P 0.3462861
ATC_RAT_RLL_D 0.002629029
ATC_RAT_RLL_I 0.315668
ATC_RAT_RLL_IMAX 0.75
ATC_RAT_RLL_P 0.315668
ATC_RAT_YAW_D 0
ATC_RAT_YAW_FILT 5
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_P_MAX 0
ATC_RATE_R_MAX 0
ATC_RATE_Y_MAX 0
MOT_THST_EXPO 0
MOT_THST_HOVER 0.4832231
MOT_YAW_HEADROOM 350