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Convergence: updated tuning

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This commit is contained in:
Andreas Antener
2017-02-12 16:34:35 +01:00
committed by Andreas Daniel Antener
parent 459b8b7c7e
commit 8683739fec
1 changed files with 36 additions and 15 deletions
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45
ROMFS/px4fmu_common/init.d/13012_convergence
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@@ -22,23 +22,44 @@ then
param set VT_IDLE_PWM_MC 1080 param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 1 param set VT_TYPE 1
param set VT_TILT_MC 0.0
param set VT_TILT_TRANS 0.35
param set VT_TILT_FW 1.0
param set VT_F_TRANS_DUR 2.0
param set VT_TRANS_MIN_TM 3.0
param set VT_F_TR_OL_TM 7.0
param set VT_TRANS_P2_DUR 2.2
param set VT_B_TRANS_DUR 1.0 param set VT_B_TRANS_DUR 1.0
param set VT_FW_PERM_STAB 1 param set VT_FW_DIFTHR_EN 1
param set VT_FW_DIFTHR_SC 0.17
param set VT_FW_PERM_STAB 0
param set VT_F_TRANS_DUR 1.2
param set VT_F_TR_OL_TM 4.0
param set VT_TILT_FW 1.0
param set VT_TILT_MC 0.0
param set VT_TILT_TRANS 0.45
param set VT_TRANS_MIN_TM 1.2
param set VT_TRANS_P2_DUR 1.3
param set FW_L1_PERIOD 16 param set FW_L1_PERIOD 17
param set FW_MAN_R_MAX 50.0 param set FW_MAN_R_MAX 50.0
param set FW_PSP_OFF 4.0 param set FW_ACRO_X_MAX 270
param set FW_ACRO_Y_MAX 270
param set FW_ACRO_Z_MAX 180
param set FW_PR_FF 0.5
param set FW_PR_P 0.08
param set FW_PSP_OFF 5.0
param set FW_P_LIM_MAX 30 param set FW_P_LIM_MAX 30
param set FW_P_LIM_MIN -30 param set FW_P_LIM_MIN -30
param set FW_RR_FF 0.35 param set FW_P_RMAX_NEG 60
param set FW_RR_P 0.14 param set FW_P_RMAX_POS 60
param set FW_RR_FF 0.33
param set FW_RR_P 0.11
param set FW_YR_FF 0.3
param set FW_YR_P 0.05
param set MC_PITCHRATE_D 0.003
param set MC_PITCHRATE_P 0.15
param set MC_PITCH_P 6.0
param set MC_ROLLRATE_D 0.003
param set MC_ROLLRATE_P 0.15
param set MC_ROLL_P 6.0
param set MC_YAWRATE_MAX 120
param set MC_YAWRATE_P 0.27
param set MC_YAW_FF 0.35
param set MC_YAW_P 2.5
param set MC_YAWRATE_P 0.3 param set MC_YAWRATE_P 0.3
param set MPC_LAND_SPEED 1.2 param set MPC_LAND_SPEED 1.2