From 45073f000a93c9bcf049f5a000248d34726513fe Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Wed, 20 Jul 2022 10:44:47 +0200 Subject: [PATCH] FW Position control: reduce defaults for max pitch Signed-off-by: Silvan Fuhrer --- ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane | 1 - ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer | 1 - ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol | 1 - ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter | 1 - ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor | 1 - .../init.d-posix/airframes/1043_standard_vtol_drop | 1 - ROMFS/px4fmu_common/init.d/airframes/13012_convergence | 4 +--- ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha | 1 - src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c | 4 ++-- 9 files changed, 3 insertions(+), 12 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane b/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane index 319c9d16ed..47e29ede25 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane @@ -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 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer b/ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer index 0e3593d762..08763918f1 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer @@ -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 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol index 9b4d01e091..a2a2025a8e 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol @@ -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 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter b/ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter index 19a0a78cca..3c55ebd59e 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter @@ -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 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor b/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor index c6bacdd2c9..eb6b1394aa 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor @@ -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 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop index 739a6c22b5..ef2cdf42a8 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop @@ -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 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13012_convergence b/ROMFS/px4fmu_common/init.d/airframes/13012_convergence index 7cc6fc4d85..79b3dda403 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13012_convergence +++ b/ROMFS/px4fmu_common/init.d/airframes/13012_convergence @@ -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 diff --git a/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha index 8dcad27739..d620751e12 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha +++ b/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha @@ -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 diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index 3daa747c19..58d1c68765 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -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