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Update IRIS configs to match new simulator dynamics and fixes

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This commit is contained in:
Lorenz Meier
2016-04-08 21:51:00 -07:00
parent dd0d1f001e
commit 075a6e3d4e
2 changed files with 10 additions and 10 deletions
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6
posix-configs/SITL/init/rcS_gazebo_iris
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@@ -22,9 +22,13 @@ param set SENS_BOARD_ROT 8
param set SENS_BOARD_X_OFF 0.000001
param set COM_RC_IN_MODE 1
param set COM_DL_LOSS_EN 1
param set NAV_ACC_RAD 2.0
param set NAV_ACC_RAD 8.0
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
param set MC_ROLLRATE_P 0.25
param set MC_PITCHRATE_P 0.25
param set MC_PITCH_P 5
param set MC_ROLL_P 5
rgbledsim start
tone_alarm start
gyrosim start

14
posix-configs/SITL/init/rcS_gazebo_iris_opt_flow
View File

@@ -2,10 +2,6 @@ uorb start
simulator start -s
param load
param set MAV_TYPE 2
param set MC_PITCHRATE_P 0.3
param set MC_ROLLRATE_P 0.3
param set MC_YAW_P 2.0
param set MC_YAWRATE_P 0.35
param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2
dataman start
@@ -22,17 +18,17 @@ 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 0.15
param set MPC_XY_VEL_P 0.05
param set MPC_XY_VEL_D 0.005
param set MPC_XY_FF 0.1
param set SENS_BOARD_ROT 8
param set SENS_BOARD_X_OFF 0.000001
param set COM_RC_IN_MODE 1
param set COM_DL_LOSS_EN 1
param set NAV_ACC_RAD 2.0
param set NAV_ACC_RAD 8.0
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
param set MC_ROLLRATE_P 0.25
param set MC_PITCHRATE_P 0.25
param set MC_PITCH_P 5
param set MC_ROLL_P 5
rgbledsim start
tone_alarm start
gyrosim start