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ROMFS: tailsitter SITL config: improve tuning after model changes 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-05-16 11:07:30 +02:00
parent f2e706d7c4
commit 5b3d19944c
1 changed files with 18 additions and 21 deletions
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39
ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo-classic_tailsitter
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@ -48,35 +48,32 @@ param set-default PWM_MAIN_REV 96 # invert both elevons
param set-default EKF2_MULTI_IMU 0 param set-default EKF2_MULTI_IMU 0
param set-default SENS_IMU_MODE 1 param set-default SENS_IMU_MODE 1
param set-default NPFG_PERIOD 12 param set-default FW_P_TC 0.6
param set-default FW_PR_I 0.2
param set-default FW_PR_P 0.2 param set-default FW_PR_FF 0.1
param set-default FW_PSP_OFF 2 param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MIN -15 param set-default FW_RR_FF 0.1
param set-default FW_RR_P 0.2 param set-default FW_RR_I 0.2
param set-default FW_THR_TRIM 0.33 param set-default FW_RR_P 0.3
param set-default FW_THR_MAX 0.6 param set-default FW_THR_TRIM 0.35
param set-default FW_THR_MAX 0.8
param set-default FW_THR_MIN 0.05 param set-default FW_THR_MIN 0.05
param set-default FW_T_ALT_TC 2 param set-default FW_T_CLMB_MAX 6
param set-default FW_T_CLMB_MAX 8 param set-default FW_T_HRATE_FF 0.5
param set-default FW_T_SINK_MAX 2.7 param set-default FW_T_SINK_MAX 3
param set-default FW_T_SINK_MIN 2.2 param set-default FW_T_SINK_MIN 1.6
param set-default FW_T_TAS_TC 2
param set-default MC_AIRMODE 1 param set-default MC_AIRMODE 1
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_ROLLRATE_P 0.3
param set-default MC_PITCHRATE_P 0.3
param set-default MPC_XY_P 0.8 param set-default VT_ARSP_TRANS 10
param set-default MPC_XY_VEL_P_ACC 3 param set-default VT_B_TRANS_DUR 5
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 VT_FW_DIFTHR_EN 1 param set-default VT_FW_DIFTHR_EN 1
param set-default VT_FW_DIFTHR_S_Y 0.5 param set-default VT_FW_DIFTHR_S_Y 1
param set-default VT_F_TRANS_DUR 1.5 param set-default VT_F_TRANS_DUR 1.5
param set-default VT_F_TRANS_THR 0.7
param set-default VT_TYPE 0 param set-default VT_TYPE 0
param set-default WV_EN 0 param set-default WV_EN 0