From 075a6e3d4e853b1b067e6dae18126d14814c2459 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 8 Apr 2016 21:51:00 -0700 Subject: [PATCH] Update IRIS configs to match new simulator dynamics and fixes --- posix-configs/SITL/init/rcS_gazebo_iris | 6 +++++- posix-configs/SITL/init/rcS_gazebo_iris_opt_flow | 14 +++++--------- 2 files changed, 10 insertions(+), 10 deletions(-) diff --git a/posix-configs/SITL/init/rcS_gazebo_iris b/posix-configs/SITL/init/rcS_gazebo_iris index a3bae07263..b50fe0af35 100644 --- a/posix-configs/SITL/init/rcS_gazebo_iris +++ b/posix-configs/SITL/init/rcS_gazebo_iris @@ -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 diff --git a/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow b/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow index 876bdcc2a7..17a8a6f52b 100644 --- a/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow +++ b/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow @@ -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