dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

ROMFS: initial quadtailsitter tuning 

This is now using the advanced lift drag plugin.

The important step was to enable airmode for yaw, otherwise yaw gets
saturated at low throttle and we can barely roll.

The other trick was to raise airspeed a little bit to avoid operating
too much at the lower end of throttle where control authority is low.

Signed-off-by: Julian Oes <julian@oes.ch>
This commit is contained in:
Julian Oes 2023-05-12 14:34:50 +12:00 committed by Silvan Fuhrer
parent 682190a21f
commit 5a5849d61a
1 changed files with 17 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

23
ROMFS/px4fmu_common/init.d-posix/airframes/1045_gazebo-classic_quadtailsitter
View File

@ -34,10 +34,10 @@ param set-default PWM_MAIN_FUNC4 104
param set-default PWM_MAIN_FUNC5 0
param set-default FW_PR_I 0.2
param set-default FW_PR_P 0.2
param set-default FW_PR_P 0.4
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_P 0.2
param set-default FW_RR_P 0.4
param set-default FW_YR_P 0.2
param set-default FW_THR_TRIM 0.33
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
@ -47,10 +47,20 @@ param set-default FW_T_HRATE_FF 0.5
param set-default FW_T_SINK_MAX 2.7
param set-default FW_T_SINK_MIN 2.2
param set-default FW_T_TAS_TC 2
param set-default FW_R_TC 0.1
param set-default FW_P_TC 0.1
param set-default FW_R_LIM 60.0
param set-default FW_AIRSPD_STALL 10
param set-default FW_AIRSPD_MIN 14
param set-default FW_AIRSPD_TRIM 18
param set-default FW_AIRSPD_MAX 22
param set-default MC_AIRMODE 1
param set-default MC_PITCH_P 5
param set-default MC_AIRMODE 2
param set-default MAN_ARM_GESTURE 0 # required for yaw airmode
param set-default MC_ROLL_P 3
param set-default MC_PITCH_P 3
param set-default MC_ROLLRATE_P 0.3
param set-default MC_PITCHRATE_P 0.3
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_XY_P 0.8
@ -58,7 +68,8 @@ param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_D_ACC 0.1
param set-default NAV_ACC_RAD 5
param set-default NPFG_PERIOD 10
param set-default NAV_ACC_RAD 10
param set-default VT_FW_DIFTHR_EN 7
param set-default VT_FW_DIFTHR_S_R 0.5