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https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
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a76c82f5f2
- P and D gains are too high for a racer - default I gain is too low (0.25 is still quite low) - use the thrust curve param instead of TPA - improve responsiveness in Manual & increase max tilt angle to 60 degrees - enable one-shot - enable high-rate logging profile - disable RC filter
51 lines
1.0 KiB
Plaintext
51 lines
1.0 KiB
Plaintext
#!nsh
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#
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# @name Generic 250 Racer
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#
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# @type Quadrotor x
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# @class Copter
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#
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# @maintainer Lorenz Meier <lorenz@px4.io>
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#
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sh /etc/init.d/4001_quad_x
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if [ $AUTOCNF == yes ]
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then
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param set MC_ROLL_P 8.0
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param set MC_ROLLRATE_P 0.08
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param set MC_ROLLRATE_I 0.25
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param set MC_ROLLRATE_D 0.001
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param set MC_PITCH_P 8.0
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param set MC_PITCHRATE_P 0.08
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param set MC_PITCHRATE_I 0.25
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param set MC_PITCHRATE_D 0.001
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param set MC_YAW_P 4.0
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param set MC_YAWRATE_P 0.2
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param set MC_YAWRATE_I 0.1
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param set MC_YAWRATE_D 0.0
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param set MC_YAW_FF 0.5
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param set MC_ROLLRATE_MAX 1600.0
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param set MC_PITCHRATE_MAX 1600.0
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param set MC_YAWRATE_MAX 1000.0
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param set MPC_MANTHR_MIN 0.0
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param set MPC_MAN_TILT_MAX 60
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# use thrust curve factor (instead of TPA)
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param set THR_MDL_FAC 0.3
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param set PWM_MIN 1075
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# enable one-shot
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param set PWM_RATE 0
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# enable high-rate logging profile (helps with tuning)
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param set SDLOG_PROFILE 19
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# disable RC filtering
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param set RC_FLT_CUTOFF 0.00000
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param set CBRK_IO_SAFETY 22027
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fi
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