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ROMFS: Tiltrotor SITL: improve tuning and remove unnecessary params from config 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2020-12-19 15:09:54 +01:00 committed by Daniel Agar
parent 3ff7cd94dd
commit a88b7fc517
1 changed files with 17 additions and 24 deletions
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41
ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
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@ -9,40 +9,33 @@
if [ $AUTOCNF = yes ]
then
param set FW_ARSP_MODE 1
param set FW_AIRSPD_MAX 25
param set FW_AIRSPD_MIN 14
param set FW_AIRSPD_TRIM 16
param set FW_L1_PERIOD 12
param set FW_MAN_P_MAX 30
param set FW_PR_FF 0.2
param set FW_PR_I 0.4
param set FW_PR_P 0.9
param set FW_PSP_OFF 3
param set FW_RR_FF 0.1
param set FW_RR_P 0.3
param set MC_ROLLRATE_P 0.3
param set MC_YAW_P 1.6
param set MIS_LTRMIN_ALT 10
param set MIS_TAKEOFF_ALT 10
param set MIS_YAW_TMT 10
param set MPC_ACC_HOR_MAX 2
param set MPC_ACC_HOR_MAX 2
param set MPC_THR_MIN 0.1
param set MPC_TKO_SPEED 1
param set MPC_XY_P 0.15
param set MPC_XY_VEL_D_ACC 0.1
param set MPC_XY_P 0.8
param set MPC_XY_VEL_P_ACC 3
param set MPC_XY_VEL_I_ACC 4
param set MPC_XY_VEL_P_ACC 1
param set MPC_Z_VEL_MAX_DN 1.5
param set MPC_Z_VEL_P_ACC 16
param set MPC_XY_VEL_D_ACC 0.1
param set NAV_ACC_RAD 5
param set NAV_LOITER_RAD 80
param set NAV_LOITER_RAD 100
param set VT_F_TRANS_DUR 5.0
param set VT_F_TRANS_THR 0.75
param set VT_FWD_THRUST_SC 1.1
param set VT_TILT_FW 1
param set VT_TILT_TRANS 0.6
param set VT_ELEV_MC_LOCK 0
param set VT_TYPE 1
param set VT_B_TRANS_DUR 8
param set VT_ELEV_MC_LOCK 0
param set VT_FWD_THRUST_EN 4
param set VT_MOT_ID 1234
param set VT_TILT_TRANS 0.6
param set VT_TYPE 1
fi