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px4-firmware
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update sitl default params, make posctrl very slow for now

This commit is contained in:
Thomas Gubler 2015-02-01 11:57:31 +01:00
parent e547176ba1
commit 3b07890361
2 changed files with 14 additions and 22 deletions
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19
launch/ardrone.launch
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@ -3,17 +3,14 @@
<include file="$(find px4)/launch/multicopter_x.launch" /> <include file="$(find px4)/launch/multicopter_x.launch" />
<group ns="px4_multicopter"> <group ns="px4_multicopter">
<param name="MC_ROLL_P" type="double" value="6.0" /> <param name="MPC_XY_P" type="double" value="1.0" />
<param name="MC_PITCH_P" type="double" value="6.0" /> <param name="MPC_XY_FF" type="double" value="0.0" />
<param name="MC_ROLLRATE_P" type="double" value="0.05" /> <param name="MPC_XY_VEL_P" type="double" value="0.01" />
<param name="MC_ROLLRATE_D" type="double" value="0.0" /> <param name="MPC_XY_VEL_I" type="double" value="0.0" />
<param name="MC_PITCHRATE_P" type="double" value="0.05" /> <param name="MPC_XY_VEL_D" type="double" value="0.01" />
<param name="MC_PITCHRATE_D" type="double" value="0.0" /> <param name="MPC_XY_VEL_MAX" type="double" value="2.0" />
<param name="MC_YAW_FF" type="double" value="0" />
<param name="MC_YAW_P" type="double" value="5.0" />
<param name="MC_YAWRATE_P" type="double" value="0.5" />
<param name="MC_MAN_R_MAX" type="double" value="10.0" />
<param name="MC_MAN_P_MAX" type="double" value="10.0" />
</group> </group>
<node pkg="rosbag" type="record" name="record" output="screen" args="-a -O multicopter"/>
</launch> </launch>

17
launch/iris.launch
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@ -3,18 +3,13 @@
<include file="$(find px4)/launch/multicopter_w.launch" /> <include file="$(find px4)/launch/multicopter_w.launch" />
<group ns="px4_multicopter"> <group ns="px4_multicopter">
<param name="MC_ROLL_P" type="double" value="6.0" />
<param name="MC_PITCH_P" type="double" value="6.0" />
<param name="MC_ROLLRATE_P" type="double" value="0.05" />
<param name="MC_ROLLRATE_D" type="double" value="0.0" />
<param name="MC_PITCHRATE_P" type="double" value="0.05" />
<param name="MC_PITCHRATE_D" type="double" value="0.0" />
<param name="MC_YAW_FF" type="double" value="0" />
<param name="MC_YAW_P" type="double" value="3.0" />
<param name="MC_YAWRATE_P" type="double" value="0.5" />
<param name="MC_MAN_R_MAX" type="double" value="10.0" />
<param name="MC_MAN_P_MAX" type="double" value="10.0" />
<param name="mixer" type="string" value="i" /> <param name="mixer" type="string" value="i" />
<param name="MPC_XY_P" type="double" value="1.0" />
<param name="MPC_XY_FF" type="double" value="0.0" />
<param name="MPC_XY_VEL_P" type="double" value="0.01" />
<param name="MPC_XY_VEL_I" type="double" value="0.0" />
<param name="MPC_XY_VEL_D" type="double" value="0.01" />
<param name="MPC_XY_VEL_MAX" type="double" value="2.0" />
</group> </group>
</launch> </launch>