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FW Position control: reduce defaults for max pitch 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2022-07-20 10:44:47 +02:00
parent d04f21aa16
commit 45073f000a
9 changed files with 3 additions and 12 deletions
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1
ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
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@ -16,7 +16,6 @@ param set-default FW_L1_PERIOD 12
param set-default FW_PR_P 0.9
param set-default FW_PR_FF 0.2
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_FF 0.1

1
ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer
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@ -16,7 +16,6 @@ param set-default FW_L1_PERIOD 12
param set-default FW_PR_P 0.9
param set-default FW_PR_FF 0.2
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_FF 0.1

1
ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
View File

@ -52,7 +52,6 @@ param set-default FW_L1_PERIOD 12
param set-default FW_PR_FF 0.2
param set-default FW_PR_P 0.9
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_FF 0.1
param set-default FW_RR_P 0.3

1
ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter
View File

@ -47,7 +47,6 @@ param set-default FW_L1_PERIOD 12
param set-default FW_PR_I 0.2
param set-default FW_PR_P 0.2
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_P 0.2
param set-default FW_THR_TRIM 0.33

1
ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
View File

@ -59,7 +59,6 @@ param set-default FW_L1_PERIOD 12
param set-default FW_PR_FF 0.2
param set-default FW_PR_P 0.9
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_FF 0.1
param set-default FW_RR_P 0.3

1
ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop
View File

@ -11,7 +11,6 @@ param set-default FW_L1_PERIOD 12
param set-default FW_PR_FF 0.2
param set-default FW_PR_P 0.9
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_FF 0.1
param set-default FW_RR_P 0.3

4
ROMFS/px4fmu_common/init.d/airframes/13012_convergence
View File

@ -34,8 +34,6 @@ param set-default FW_ACRO_X_MAX 270
param set-default FW_ACRO_Y_MAX 270
param set-default FW_ACRO_Z_MAX 180
param set-default FW_PSP_OFF 5
param set-default FW_P_LIM_MAX 30
param set-default FW_P_LIM_MIN -30
param set-default FW_RR_FF 0.33
param set-default FW_RR_P 0.11
@ -74,4 +72,4 @@ then
set PWM_OUT 1234
else
set PWM_OUT 3456
fi
fi

1
ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha
View File

@ -28,7 +28,6 @@ param set-default FW_L1_PERIOD 15
param set-default FW_LND_ANG 15
param set-default FW_LND_FLALT 8
param set-default FW_P_LIM_MAX 20
param set-default FW_P_LIM_MIN -30
param set-default FW_R_LIM 45
param set-default FW_PR_FF 0.45
param set-default FW_PR_P 0.005

4
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
View File

@ -266,7 +266,7 @@ PARAM_DEFINE_FLOAT(FW_THR_SLEW_MAX, 0.0f);
* @increment 0.5
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -45.0f);
PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -30.0f);
/**
* Maximum pitch angle
@ -280,7 +280,7 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -45.0f);
* @increment 0.5
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 45.0f);
PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 30.0f);
/**
* Maximum roll angle