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Bug Fix: The absolute value of Z thrust is used in the 6-Dof mixer now

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- Tilt-Hex flies like a normal hex but with the new 6-dof mixer now (with some jitters)
- Some minor parameter changes in the hexa_x_tilt definition to make the simulated flight smoother
This commit is contained in:
Azarakhsh Keipour
2020-01-21 18:23:07 -05:00
parent b2bc14f706
commit 0f40eb953d
3 changed files with 24 additions and 17 deletions
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ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt
+2 -1
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@@ -20,8 +20,9 @@ if [ $AUTOCNF = yes ]
then
param set MC_PITCHRATE_P 0.2
param set MC_ROLLRATE_P 0.2
param set MC_YAWRATE_P 0.1
param set MPC_Z_VEL_I 0.15
param set MPC_Z_VEL_P 0.6
param set MPC_Z_VEL_P 0.3
param set RTL_DESCEND_ALT 5.0
param set RTL_LAND_DELAY 5