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ROMFS: improve tuning of tiltrotor VTOL SITL

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-01-13 20:22:59 +01:00
committed by Roman Bapst
parent 2ce310925c
commit 6104fe8932
1 changed files with 13 additions and 3 deletions
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16
ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
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@@ -14,9 +14,19 @@ then
param set FW_PR_FF 0.2
param set FW_PR_I 0.4
param set FW_PR_P 0.9
param set FW_PSP_OFF 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_FF 0.1
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_YAW_P 1.6
@@ -28,10 +38,10 @@ then
param set MPC_XY_VEL_I_ACC 4
param set MPC_XY_VEL_D_ACC 0.1
param set NAV_LOITER_RAD 100
param set NAV_ACC_RAD 5
param set NAV_LOITER_RAD 80
param set VT_B_TRANS_DUR 8
param set VT_ELEV_MC_LOCK 0
param set VT_FWD_THRUST_EN 4
param set VT_MOT_ID 1234
param set VT_TILT_TRANS 0.6