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POSIX SITL configs: Update default parameters to improve simulation behaviour

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The main changes include:
 * Better attitude tuning for airframes (more realistic models, the models had previously not as much thrust as the real vehicles)
 * Better waypoint and navigation default parameters which match the on-hardware parameters
 * More suitable minimum and trim airspeeds for VTOL and fixed wing which prevents stalls that happened in SITL previously (the new airspeeds match the real vehicles nicely)
This commit is contained in:
Lorenz Meier
2016-12-25 17:06:27 +01:00
parent 0ae85e8a17
commit 171ccd1203
5 changed files with 28 additions and 7 deletions
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4
posix-configs/SITL/init/ekf2/solo
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@@ -29,8 +29,8 @@ param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
param set RTL_LAND_DELAY 0
param set MIS_TAKEOFF_ALT 2.5
param set MC_ROLLRATE_P 0.2
param set MC_PITCHRATE_P 0.2
param set MC_ROLLRATE_P 0.15
param set MC_PITCHRATE_P 0.15
param set MC_PITCH_P 6
param set MC_ROLL_P 6
param set MPC_HOLD_MAX_Z 2.0