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Update Gazebo tuning gains

This commit is contained in:
Lorenz Meier 2016-05-28 11:31:39 +02:00
parent 959c9e3817
commit c3974446bd
3 changed files with 90 additions and 4 deletions
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74
posix-configs/SITL/init/rcS_ekf2_gazebo_iris Normal file
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@ -0,0 +1,74 @@
uorb start
param load
param set MAV_TYPE 2
param set MC_PITCHRATE_P 0.15
param set MC_PITCH_P 7
param set MC_ROLL_P 7
param set MC_ROLLRATE_P 0.15
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.35
param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2
dataman start
param set CAL_GYRO0_ID 2293768
param set CAL_ACC0_ID 1376264
param set CAL_ACC1_ID 1310728
param set CAL_MAG0_ID 196616
param set CAL_GYRO0_XOFF 0.01
param set CAL_ACC0_XOFF 0.01
param set CAL_ACC0_YOFF -0.01
param set CAL_ACC0_ZOFF 0.01
param set CAL_ACC0_XSCALE 1.01
param set CAL_ACC0_YSCALE 1.01
param set CAL_ACC0_ZSCALE 1.01
param set CAL_ACC1_XOFF 0.01
param set CAL_MAG0_XOFF 0.01
param set MPC_XY_P 0.4
param set MPC_XY_VEL_P 0.2
param set MPC_XY_VEL_D 0.005
param set SENS_BOARD_ROT 0
param set SENS_BOARD_X_OFF 0.000001
param set COM_RC_IN_MODE 1
param set NAV_DLL_ACT 2
param set COM_DISARM_LAND 3
param set NAV_ACC_RAD 2.0
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
param set RTL_LAND_DELAY 0
param set MIS_TAKEOFF_ALT 2.5
param set MPC_HOLD_MAX_Z 2.0
param set MPC_HOLD_XY_DZ 0.1
param set MPC_Z_VEL_MAX 2.0
param set MPC_Z_VEL_P 0.4
simulator start -s
rgbledsim start
tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim mode_pwm
sleep 1
sensors start
commander start
land_detector start multicopter
navigator start
ekf2 start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
mavlink start -u 14556 -r 2000000 -t 127.0.0.1
mavlink start -u 14557 -r 2000000 -m onboard -o 14540 -t 127.0.0.1
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
mavlink stream -r 80 -s ATTITUDE -u 14556
mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
mavlink stream -r 20 -s RC_CHANNELS -u 14556
mavlink stream -r 250 -s HIGHRES_IMU -u 14556
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
mavlink stream -r 20 -s MANUAL_CONTROL -u 14556
mavlink boot_complete
sdlog2 start -r 100 -e -t -a

10
posix-configs/SITL/init/rcS_gazebo_iris
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@ -27,12 +27,18 @@ param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
param set RTL_LAND_DELAY 0
param set MIS_TAKEOFF_ALT 2.5
param set MC_ROLLRATE_P 0.25
param set MC_PITCHRATE_P 0.25
param set MC_ROLLRATE_P 0.5
param set MC_PITCHRATE_P 0.5
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_HOLD_MAX_Z 2.0
param set MPC_HOLD_XY_DZ 0.1
param set MPC_Z_VEL_P 0.8
param set MPC_Z_VEL_I 0.15
param set MPC_XY_VEL_P 0.15
param set MPC_XY_VEL_I 0.2
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
simulator start -s

10
posix-configs/SITL/init/rcS_gazebo_iris_opt_flow
View File

@ -27,12 +27,18 @@ param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
param set RTL_LAND_DELAY 0
param set MIS_TAKEOFF_ALT 2.5
param set MC_ROLLRATE_P 0.25
param set MC_PITCHRATE_P 0.25
param set MC_ROLLRATE_P 0.5
param set MC_PITCHRATE_P 0.5
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_HOLD_MAX_Z 2.0
param set MPC_HOLD_XY_DZ 0.1
param set MPC_Z_VEL_P 0.8
param set MPC_Z_VEL_I 0.15
param set MPC_XY_VEL_P 0.15
param set MPC_XY_VEL_I 0.2
simulator start -s
rgbledsim start
tone_alarm start