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VTOL: Use standard attitude gains

This commit is contained in:
Lorenz Meier 2016-06-18 16:29:28 +02:00
parent 2242331f08
commit afdc8cdf55
1 changed files with 6 additions and 4 deletions
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10
posix-configs/SITL/init/rcS_gazebo_standard_vtol
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@ -1,10 +1,6 @@
uorb start uorb start
param load param load
param set MAV_TYPE 20 param set MAV_TYPE 20
param set MC_PITCHRATE_P 0.3
param set MC_ROLLRATE_P 0.3
param set MC_YAW_P 2.0
param set MC_YAWRATE_P 0.35
param set VT_TYPE 2 param set VT_TYPE 2
param set SYS_AUTOSTART 4010 param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2 param set SYS_RESTART_TYPE 2
@ -22,6 +18,12 @@ param set CAL_ACC0_YSCALE 1.01
param set CAL_ACC0_ZSCALE 1.01 param set CAL_ACC0_ZSCALE 1.01
param set CAL_ACC1_XOFF 0.01 param set CAL_ACC1_XOFF 0.01
param set CAL_MAG0_XOFF 0.01 param set CAL_MAG0_XOFF 0.01
param set MC_ROLLRATE_P 0.25
param set MC_PITCHRATE_P 0.25
param set MC_PITCH_P 5
param set MC_ROLL_P 5
param set MC_ROLLRATE_I 0.1
param set MC_PITCHRATE_I 0.1
param set MPC_XY_P 0.15 param set MPC_XY_P 0.15
param set MPC_XY_VEL_P 0.05 param set MPC_XY_VEL_P 0.05
param set MPC_XY_VEL_D 0.005 param set MPC_XY_VEL_D 0.005