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cc0bc05156
It scales the yawspeed setpoint arbitrarily by default with 0.5. This makes no sense because when you give a setpoint of 1rad/s then you expect the setpoint to get executed. If you want manual yawspeed response to be less agressive on the stick use the scaling parameter for the stick MPC_MAN_Y_MAX.
35 lines
721 B
Plaintext
35 lines
721 B
Plaintext
#!nsh
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#
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# @name Lumenier QAV-R (raceblade) 5" arms
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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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# @board px4fmu-v2 exclude
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#
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# @maintainer James Goppert <james.goppert@gmail.com>
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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 0.16
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param set MC_ROLLRATE_D 0.003
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param set MC_PITCH_P 8.0
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param set MC_PITCHRATE_P 0.1
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param set MC_PITCHRATE_I 0.2
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param set MC_PITCHRATE_D 0.003
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param set MC_YAW_P 2.8
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param set MC_YAWRATE_P 0.15
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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_TPA_BREAK_P 0.7
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param set MC_TPA_RATE_P 0.3
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param set PWM_MIN 1075
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param set MPC_THR_MIN 0.06
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param set MPC_MANTHR_MIN 0.06
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fi
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