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4070_aerofc: update MPC and LND parameters

This commit is contained in:
Beat Küng 2017-04-04 18:46:48 +02:00 committed by Lorenz Meier
parent 260b8ea940
commit 882c5bbdc9
1 changed files with 27 additions and 3 deletions
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30
ROMFS/px4fmu_common/init.d/4070_aerofc
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@ -19,14 +19,21 @@ sh /etc/init.d/rc.mc_defaults
if [ $AUTOCNF == yes ]
then
# Set all params here, then disable autoconfig
param set COM_DISARM_LAND 3
param set LNDMC_MAN_DWNTHR 0.2500
param set LNDMC_POS_UPTHR 0.5500
param set LNDMC_Z_VEL_MAX 2.0000
param set MC_ROLL_P 8.0000
param set MC_ROLLRATE_P 0.1300
param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_I 0.07
param set MC_ROLLRATE_D 0.0012
param set MC_ROLLRATE_MAX 360
param set MC_PITCH_P 8.0000
param set MC_PITCHRATE_P 0.1300
param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_I 0.07
param set MC_PITCHRATE_D 0.0012
param set MC_PITCHRATE_MAX 360
param set MC_YAW_P 4.0
@ -34,7 +41,24 @@ then
param set MC_YAWRATE_I 0.050000000745058060
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.5
param set MPC_XY_CRUISE 8
param set MPC_LAND_SPEED 0.7000
param set MPC_MANTHR_MIN 0.0400
param set MPC_THR_HOVER 0.5000
param set MPC_THR_MAX 0.9400
param set MPC_THR_MIN 0.1000
param set MPC_XY_CRUISE 8.0000
param set MPC_XY_P 1.5000
param set MPC_XY_VEL_P 0.1500
param set MPC_Z_P 1.5000
param set MPC_Z_VEL_I 0.1500
param set MPC_Z_VEL_MAX_DN 4.0000
param set MPC_Z_VEL_MAX_UP 5.0000
param set MPC_Z_VEL_P 0.8000
param set EKF2_GPS_POS_X -0.0600
param set EKF2_GPS_POS_Z -0.1000
param set EKF2_MIN_OBS_DT 50
param set EKF2_BARO_GATE 10.0
param set EKF2_BARO_NOISE 5.0