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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
723 B
Plaintext
35 lines
723 B
Plaintext
#!nsh
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#
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# @name Lumenier QAV250
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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 6.0
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param set MC_ROLLRATE_P 0.14
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param set MC_ROLLRATE_I 0.23
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param set MC_ROLLRATE_D 0.0025
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param set MC_PITCH_P 7.0
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param set MC_PITCHRATE_P 0.235
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param set MC_PITCHRATE_I 0.17
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param set MC_PITCHRATE_D 0.004
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param set MC_YAW_P 4
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param set MC_YAWRATE_P 0.3
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param set MC_YAWRATE_I 0.2
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param set MC_YAWRATE_D 0.0
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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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param set CBRK_IO_SAFETY 22027
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param set ATT_BIAS_MAX 0.0
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param set MC_TPA_BREAK_P 0.5
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param set MC_TPA_RATE_P 0.5
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fi
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