From 0633c3956fdc66f4f1ada5178cc5ab6dd80639fd Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Wed, 13 Jan 2021 22:31:45 +0100 Subject: [PATCH] ROMFS: improve tuning of tailsitter VTOL SITL Signed-off-by: Silvan Fuhrer --- .../init.d-posix/airframes/1041_tailsitter | 29 ++++++++++++------- 1 file changed, 18 insertions(+), 11 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter b/ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter index 28c0ce6e82..bf62de9d38 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter @@ -9,23 +9,30 @@ if [ $AUTOCNF = yes ] then - param set FW_AIRSPD_MAX 25 - param set FW_AIRSPD_MIN 14 - param set FW_AIRSPD_TRIM 16 param set FW_L1_PERIOD 12 + param set FW_MAN_P_MAX 30 + param set FW_PR_I 0.2 + param set FW_PR_P 0.3 + param set FW_PSP_OFF 2 + param set FW_P_LIM_MAX 32 + param set FW_P_LIM_MIN -15 + param set FW_RR_P 0.3 + param set FW_THR_MAX 0.6 + param set FW_THR_MIN 0.05 + param set FW_T_ALT_TC 2 + param set FW_T_CLMB_MAX 8 + param set FW_T_HRATE_FF 0.5 + param set FW_T_SINK_MAX 2.7 + param set FW_T_SINK_MIN 2.2 + param set FW_T_TAS_TC 2 param set MC_ROLLRATE_P 0.3 - param set MIS_YAW_TMT 10 - param set MPC_ACC_HOR_MAX 2 - param set MPC_ACC_HOR_MAX 2 - param set MPC_THR_MIN 0.3 - param set MPC_XY_P 0.15 + param set MPC_XY_P 0.8 + param set MPC_XY_VEL_P_ACC 3 + param set MPC_XY_VEL_I_ACC 4 param set MPC_XY_VEL_D_ACC 0.1 - param set MPC_XY_VEL_P_ACC 1 - param set MPC_Z_VEL_MAX_DN 1.5 - param set MPC_Z_VEL_P_ACC 16 param set NAV_ACC_RAD 5 param set NAV_LOITER_RAD 80