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mc_pos_control_params: lower jerk configuration 

because of tighter tracking with acceleration feed-forward.
This commit is contained in:
Matthias Grob 2020-02-22 19:45:19 +01:00
parent b79b095ce7
commit bc2579f3be
2 changed files with 3 additions and 6 deletions
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3
ROMFS/px4fmu_common/init.d-posix/rcS
View File

@ -164,9 +164,6 @@ then
param set MPC_XY_VEL_I 0.02 param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_D 0.016 param set MPC_XY_VEL_D 0.016
param set MPC_JERK_MIN 10
param set MPC_JERK_MAX 20
param set MPC_ACC_HOR_MAX 3
param set MPC_SPOOLUP_TIME 0.5 param set MPC_SPOOLUP_TIME 0.5
param set MPC_TKO_RAMP_T 1 param set MPC_TKO_RAMP_T 1

6
src/modules/mc_pos_control/mc_pos_control_params.c
View File

@ -531,7 +531,7 @@ PARAM_DEFINE_FLOAT(MPC_ACC_DOWN_MAX, 3.0f);
* @decimal 2 * @decimal 2
* @group Multicopter Position Control * @group Multicopter Position Control
*/ */
PARAM_DEFINE_FLOAT(MPC_JERK_MAX, 20.0f); PARAM_DEFINE_FLOAT(MPC_JERK_MAX, 8.0f);
/** /**
* Velocity-based jerk limit * Velocity-based jerk limit
@ -564,13 +564,13 @@ PARAM_DEFINE_FLOAT(MPC_JERK_MIN, 8.0f);
* agility. * agility.
* *
* @unit m/s/s/s * @unit m/s/s/s
* @min 5.0 * @min 1.0
* @max 80.0 * @max 80.0
* @increment 1 * @increment 1
* @decimal 1 * @decimal 1
* @group Multicopter Position Control * @group Multicopter Position Control
*/ */
PARAM_DEFINE_FLOAT(MPC_JERK_AUTO, 8.0f); PARAM_DEFINE_FLOAT(MPC_JERK_AUTO, 4.0f);
/** /**
* Altitude control mode. * Altitude control mode.