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mc airframes: reduce I gains a bit

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A side-effect of the previous commit is that the integral is loaded up
during a flip, which leads to visible bounce-backs after a flip.
Reducing the I helps, but there's a trade-off and we'll need a better
solution.
This commit is contained in:
Beat Küng
2019-02-28 06:50:14 +01:00
parent 2f72e93d6f
commit 6c3e79f361
3 changed files with 6 additions and 6 deletions
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2
ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
View File

@@ -31,7 +31,7 @@ then
param set MC_AIRMODE 2
param set MC_PITCHRATE_D 0.0010
param set MC_PITCHRATE_I 0.5
param set MC_PITCHRATE_I 0.4
param set MC_PITCHRATE_MAX 600
param set MC_PITCHRATE_P 0.0750
param set MC_PITCH_P 6

2
ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
View File

@@ -17,7 +17,7 @@ if [ $AUTOCNF = yes ]
then
param set MC_ROLL_P 8
param set MC_ROLLRATE_P 0.08
param set MC_ROLLRATE_I 0.25
param set MC_ROLLRATE_I 0.2
param set MC_ROLLRATE_D 0.001
param set MC_PITCH_P 8
param set MC_PITCHRATE_P 0.08

8
ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
View File

@@ -26,14 +26,14 @@ then
param set MC_AIRMODE 1
param set MC_PITCHRATE_D 0.0012
param set MC_PITCHRATE_I 0.45
param set MC_PITCHRATE_I 0.25
param set MC_PITCHRATE_MAX 1200
param set MC_PITCHRATE_P 0.084
param set MC_PITCHRATE_P 0.082
param set MC_PITCH_P 8
param set MC_ROLLRATE_D 0.0012
param set MC_ROLLRATE_I 0.45
param set MC_ROLLRATE_I 0.2
param set MC_ROLLRATE_MAX 1200
param set MC_ROLLRATE_P 0.078
param set MC_ROLLRATE_P 0.076
param set MC_ROLL_P 8
param set MC_YAWRATE_I 0.3
param set MC_YAWRATE_MAX 600