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airframe configs: remove custom tuning if close to param default and not required due to hardware 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-04-18 11:35:16 +02:00 committed by Beat Küng
parent cbbd514c1b
commit 88bf18a2fe
7 changed files with 0 additions and 35 deletions
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1
ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol
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@ -67,7 +67,6 @@ param set-default MC_YAW_P 1.6
param set-default MIS_TAKEOFF_ALT 10
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_XY_VEL_I_ACC 4

2
ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo-classic_tailsitter
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@ -61,7 +61,6 @@ param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_T_ALT_TC 2
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_MIN 2.2
param set-default FW_T_TAS_TC 2
@ -69,7 +68,6 @@ param set-default FW_T_TAS_TC 2
param set-default MC_AIRMODE 1
param set-default MC_ROLLRATE_P 0.3
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_XY_VEL_I_ACC 4

1
ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo-classic_standard_vtol_drop
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@ -66,7 +66,6 @@ param set-default MC_YAW_P 1.6
param set-default MIS_TAKEOFF_ALT 10
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_XY_VEL_I_ACC 4

1
ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol
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@ -96,7 +96,6 @@ param set-default MC_YAW_P 1.6
param set-default MIS_TAKEOFF_ALT 10
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_XY_VEL_I_ACC 4

19
ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
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@ -33,9 +33,6 @@ param set-default CBRK_IO_SAFETY 22027
param set-default EKF2_GPS_POS_X -0.12
param set-default EKF2_IMU_POS_X -0.12
param set-default EKF2_TAU_VEL 0.5
param set-default EKF2_GPS_P_GATE 10
param set-default EKF2_GPS_V_GATE 10
param set-default FW_ARSP_MODE 1
param set-default NPFG_PERIOD 25
@ -51,7 +48,6 @@ param set-default FW_RR_P 0.18
param set-default FW_T_CLMB_MAX 3
param set-default FW_T_SINK_MAX 3
param set-default FW_T_SINK_MIN 1
param set-default FW_T_VERT_ACC 6
param set-default FW_THR_TRIM 0.70
param set-default FW_THR_SLEW_MAX 1
param set-default FW_P_LIM_MAX 15
@ -61,18 +57,11 @@ param set-default FW_P_RMAX_POS 45
param set-default FW_R_RMAX 50
param set-default FW_THR_MIN 0.55
param set-default FW_BAT_SCALE_EN 1
param set-default FW_THR_ALT_SCL 2.7
param set-default FW_T_RLL2THR 20
param set-default LNDMC_XY_VEL_MAX 1
param set-default LNDMC_Z_VEL_MAX 0.7
param set-default MC_ROLLRATE_P 0.16
param set-default MC_ROLLRATE_I 0.01
param set-default MC_ROLLRATE_MAX 80
param set-default MC_PITCHRATE_I 0.05
param set-default MC_PITCHRATE_MAX 80
param set-default MC_YAW_P 3.5
param set-default MC_YAWRATE_MAX 20
param set-default MC_AIRMODE 1
@ -81,16 +70,11 @@ param set-default MIS_DIST_1WP 100
param set-default MIS_TAKEOFF_ALT 15
param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_P_ACC 2
param set-default MPC_XY_VEL_MAX 5
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_LAND_SPEED 1.2
param set-default MPC_TILTMAX_LND 35
param set-default MPC_Z_VEL_MAX_UP 1.5
param set-default MPC_HOLD_MAX_XY 0.5
param set-default MPC_HOLD_MAX_Z 0.5
param set-default MPC_TKO_RAMP_T 0.8
param set-default MPC_XY_CRUISE 5
param set-default MPC_TILTMAX_AIR 25
param set-default MPC_TILTMAX_LND 25
param set-default MPC_YAWRAUTO_MAX 20
@ -112,16 +96,13 @@ param set-default MAV_1_FORWARD 1
param set-default SER_TEL2_BAUD 57600
param set-default VT_TYPE 2
param set-default VT_F_TRANS_THR 1
param set-default VT_PITCH_MIN 8
param set-default VT_FW_QC_P 55
param set-default VT_FW_QC_R 55
param set-default VT_TRANS_MIN_TM 15
param set-default VT_FWD_THRUST_SC 4
param set-default VT_F_TRANS_DUR 1
param set-default VT_B_TRANS_THR 0.7
param set-default VT_TRANS_TIMEOUT 22
param set-default VT_F_TRANS_RAMP 4
param set-default COM_RC_OVERRIDE 0

10
ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
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@ -52,21 +52,12 @@ param set-default MC_YAWRATE_I 0.15
param set-default MC_YAWRATE_MAX 40
param set-default MC_YAWRATE_P 0.3
param set-default MPC_ACC_DOWN_MAX 2
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_ACC_UP_MAX 3
param set-default MC_AIRMODE 1
param set-default MPC_JERK_AUTO 4
param set-default MPC_LAND_SPEED 1
param set-default MPC_MAN_TILT_MAX 25
param set-default MPC_MAN_Y_MAX 40
param set-default COM_SPOOLUP_TIME 1.5
param set-default MPC_THR_HOVER 0.45
param set-default MPC_TILTMAX_AIR 25
param set-default MPC_TKO_RAMP_T 1.8
param set-default MPC_VEL_MANUAL 3
param set-default MPC_XY_CRUISE 3
param set-default MPC_XY_VEL_MAX 3.5
param set-default MPC_YAWRAUTO_MAX 40
param set-default MPC_Z_VEL_MAX_UP 2
@ -83,7 +74,6 @@ param set-default VT_B_DEC_MSS 1.5
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_FWD_THRUST_SC 1.2
param set-default VT_F_TR_OL_TM 8
param set-default VT_PSHER_RMP_DT 2
param set-default VT_TRANS_MIN_TM 4
param set-default VT_TYPE 2

1
ROMFS/px4fmu_common/init.d/rc.vtol_defaults
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@ -27,7 +27,6 @@ param set-default MIS_TKO_LAND_REQ 2
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_VEL_MANUAL 5
param set-default MPC_XY_CRUISE 5
param set-default MPC_XY_ERR_MAX 5
param set-default MPC_XY_VEL_MAX 8
param set-default MPC_JERK_MAX 4.5