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Harmonize FW default gains, increase TECS height rate default gain considerably

This commit is contained in:
Lorenz Meier 2015-08-02 01:34:00 +02:00
parent 0d9d5d1fa5
commit e443a3f3be
2 changed files with 1 additions and 5 deletions
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4
ROMFS/px4fmu_common/init.d/rc.fw_defaults
View File

@ -11,10 +11,6 @@ then
param set NAV_RTL_ALT 100
param set NAV_RTL_LAND_T -1
param set NAV_ACC_RAD 50
param set FW_T_HRATE_P 0.01
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 0.35

2
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
View File

@ -327,7 +327,7 @@ PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f);
*
* @group Fixed Wing TECS
*/
PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 10.0f);
PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 15.0f);
/**
* Speed <--> Altitude priority