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ROMFS: quadtailsitter SITL config: improve tuning 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-05-15 13:30:55 +02:00
parent 5a5849d61a
commit f2e706d7c4
1 changed files with 18 additions and 27 deletions
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45
ROMFS/px4fmu_common/init.d-posix/airframes/1045_gazebo-classic_quadtailsitter
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@ -33,23 +33,25 @@ param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104 param set-default PWM_MAIN_FUNC4 104
param set-default PWM_MAIN_FUNC5 0 param set-default PWM_MAIN_FUNC5 0
param set-default FW_PR_I 0.2 parm set-default FD_FAIL_R 70
param set-default FW_PR_P 0.4
param set-default FW_P_TC 0.6
param set-default FW_PR_I 0.3
param set-default FW_PR_P 0.5
param set-default FW_PSP_OFF 2 param set-default FW_PSP_OFF 2
param set-default FW_RR_P 0.4 param set-default FW_RR_FF 0.1
param set-default FW_YR_P 0.2 param set-default FW_RR_I 0.1
param set-default FW_THR_TRIM 0.33 param set-default FW_RR_P 0.2
param set-default FW_THR_MAX 0.6 param set-default FW_YR_FF 0 # make yaw rate controller very weak, only keep default P
param set-default FW_YR_I 0
param set-default FW_THR_TRIM 0.35
param set-default FW_THR_MAX 0.8
param set-default FW_THR_MIN 0.05 param set-default FW_THR_MIN 0.05
param set-default FW_T_ALT_TC 2 param set-default FW_T_CLMB_MAX 6
param set-default FW_T_CLMB_MAX 8
param set-default FW_T_HRATE_FF 0.5 param set-default FW_T_HRATE_FF 0.5
param set-default FW_T_SINK_MAX 2.7 param set-default FW_T_SINK_MAX 3
param set-default FW_T_SINK_MIN 2.2 param set-default FW_T_SINK_MIN 1.6
param set-default FW_T_TAS_TC 2
param set-default FW_R_TC 0.1
param set-default FW_P_TC 0.1
param set-default FW_R_LIM 60.0
param set-default FW_AIRSPD_STALL 10 param set-default FW_AIRSPD_STALL 10
param set-default FW_AIRSPD_MIN 14 param set-default FW_AIRSPD_MIN 14
param set-default FW_AIRSPD_TRIM 18 param set-default FW_AIRSPD_TRIM 18
@ -62,21 +64,10 @@ param set-default MC_PITCH_P 3
param set-default MC_ROLLRATE_P 0.3 param set-default MC_ROLLRATE_P 0.3
param set-default MC_PITCHRATE_P 0.3 param set-default MC_PITCHRATE_P 0.3
param set-default MPC_ACC_HOR_MAX 2 param set-default VT_ARSP_TRANS 15
param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_D_ACC 0.1
param set-default NPFG_PERIOD 10
param set-default NAV_ACC_RAD 10
param set-default VT_FW_DIFTHR_EN 7 param set-default VT_FW_DIFTHR_EN 7
param set-default VT_FW_DIFTHR_S_R 0.5 param set-default VT_FW_DIFTHR_S_Y 1
param set-default VT_FW_DIFTHR_S_P 0.5
param set-default VT_FW_DIFTHR_S_Y 0.5
param set-default VT_F_TRANS_DUR 1.5 param set-default VT_F_TRANS_DUR 1.5
param set-default VT_F_TRANS_THR 0.7
param set-default VT_TYPE 0 param set-default VT_TYPE 0
param set-default WV_EN 0 param set-default WV_EN 0