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Better defaults for filter tuning params

This commit is contained in:
Lorenz Meier 2015-03-15 12:00:48 +01:00
parent bab79ece49
commit cf56db21a3
3 changed files with 16 additions and 0 deletions
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7
ROMFS/px4fmu_common/init.d/rc.fw_defaults
View File

@ -15,4 +15,11 @@ then
param set FW_T_RLL2THR 15
param set FW_T_SRATE_P 0.01
param set FW_T_TIME_CONST 5
param set PE_VELNE_NOISE 0.3
param set PE_VELD_NOISE 0.5
param set PE_POSNE_NOISE 0.5
param set PE_POSD_NOISE 0.5
param set PE_GBIAS_PNOISE 0.000001
param set PE_ABIAS_PNOISE 0.0002
fi

2
ROMFS/px4fmu_common/init.d/rc.mc_defaults
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@ -40,6 +40,8 @@ then
param set PE_VELD_NOISE 0.7
param set PE_POSNE_NOISE 0.5
param set PE_POSD_NOISE 1.0
param set PE_GBIAS_PNOISE 0.000001
param set PE_ABIAS_PNOISE 0.0001
param set NAV_ACC_RAD 2.0
param set RTL_RETURN_ALT 30.0

7
ROMFS/px4fmu_common/init.d/rc.vtol_defaults
View File

@ -32,6 +32,13 @@ then
param set FW_RR_I 0.00
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.02
param set PE_VELNE_NOISE 0.5
param set PE_VELD_NOISE 0.7
param set PE_POSNE_NOISE 0.5
param set PE_POSD_NOISE 1.0
param set PE_GBIAS_PNOISE 0.000001
param set PE_ABIAS_PNOISE 0.0001
fi
set PWM_DISARMED 900