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POSIX SITL configs: Update default parameters to improve simulation behaviour

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The main changes include:
 * Better attitude tuning for airframes (more realistic models, the models had previously not as much thrust as the real vehicles)
 * Better waypoint and navigation default parameters which match the on-hardware parameters
 * More suitable minimum and trim airspeeds for VTOL and fixed wing which prevents stalls that happened in SITL previously (the new airspeeds match the real vehicles nicely)
This commit is contained in:
Lorenz Meier 2016-12-25 17:06:27 +01:00
parent 0ae85e8a17
commit 171ccd1203
5 changed files with 28 additions and 7 deletions
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3
posix-configs/SITL/init/ekf2/plane
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@ -25,6 +25,9 @@ param set SENS_BOARD_X_OFF 0.000001
param set COM_RC_IN_MODE 1
param set NAV_DLL_ACT 2
param set NAV_ACC_RAD 15.0
param set NAV_LOITER_RAD 50
param set MIS_LTRMIN_ALT 30
param set MIS_TAKEOFF_ALT 30
param set FW_THR_IDLE 0.8
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01

4
posix-configs/SITL/init/ekf2/solo
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@ -29,8 +29,8 @@ param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
param set RTL_LAND_DELAY 0
param set MIS_TAKEOFF_ALT 2.5
param set MC_ROLLRATE_P 0.2
param set MC_PITCHRATE_P 0.2
param set MC_ROLLRATE_P 0.15
param set MC_PITCHRATE_P 0.15
param set MC_PITCH_P 6
param set MC_ROLL_P 6
param set MPC_HOLD_MAX_Z 2.0

11
posix-configs/SITL/init/ekf2/standard_vtol
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@ -35,13 +35,19 @@ param set MPC_XY_FF 0.1
param set MPC_Z_VEL_MAX 1.5
param set MPC_Z_VEL_P 0.6
param set MPC_Z_VEL_I 0.15
param set FW_AIRSPD_MIN 14
param set FW_AIRSPD_TRIM 16
param set FW_AIRSPD_MAX 25
param set SENS_BOARD_ROT 0
param set SENS_DPRES_OFF 0.001
param set SENS_BOARD_X_OFF 0.000001
param set COM_RC_IN_MODE 1
param set NAV_DLL_ACT 2
param set NAV_ACC_RAD 3.0
param set NAV_ACC_RAD 5.0
param set NAV_LOITER_RAD 80
param set MPC_TKO_SPEED 1.0
param set MIS_LTRMIN_ALT 10
param set MIS_TAKEOFF_ALT 10
param set MIS_YAW_TMT 10
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
@ -52,7 +58,7 @@ param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
param set EKF2_MAG_TYPE 1
replay tryapplyparams
simulator start -s
simulator start -s
rgbledsim start
tone_alarm start
gyrosim start
@ -76,6 +82,7 @@ fw_att_control start
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
mavlink start -u 14556 -r 2000000
mavlink start -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556

4
posix-configs/SITL/init/lpe/plane
View File

@ -25,6 +25,10 @@ param set SENS_BOARD_X_OFF 0.000001
param set COM_RC_IN_MODE 1
param set NAV_DLL_ACT 2
param set NAV_ACC_RAD 15.0
param set NAV_LOITER_RAD 50
param set MIS_LTRMIN_ALT 30
param set MIS_TAKEOFF_ALT 30
param set FW_THR_IDLE 0.8
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01

13
posix-configs/SITL/init/lpe/standard_vtol
View File

@ -35,13 +35,19 @@ param set MPC_XY_FF 0.1
param set MPC_Z_VEL_MAX 1.5
param set MPC_Z_VEL_P 0.6
param set MPC_Z_VEL_I 0.15
param set FW_AIRSPD_MIN 14
param set FW_AIRSPD_TRIM 16
param set FW_AIRSPD_MAX 25
param set SENS_BOARD_ROT 0
param set SENS_DPRES_OFF 0.001
param set SENS_BOARD_X_OFF 0.000001
param set COM_RC_IN_MODE 1
param set NAV_DLL_ACT 2
param set NAV_ACC_RAD 3.0
param set NAV_ACC_RAD 5.0
param set NAV_LOITER_RAD 50
param set MPC_TKO_SPEED 1.0
param set MIS_LTRMIN_ALT 10
param set MIS_TAKEOFF_ALT 10
param set MIS_YAW_TMT 10
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
@ -49,7 +55,7 @@ param set RTL_LAND_DELAY 0
param set COM_DISARM_LAND 5
param set MPC_ACC_HOR_MAX 2
replay tryapplyparams
simulator start -s
simulator start -s
rgbledsim start
tone_alarm start
gyrosim start
@ -74,6 +80,7 @@ fw_att_control start
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
mavlink start -u 14556 -r 2000000
mavlink start -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
@ -83,6 +90,6 @@ mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
mavlink stream -r 20 -s RC_CHANNELS -u 14556
mavlink stream -r 250 -s HIGHRES_IMU -u 14556
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
sdlog2 start -r 200 -e -t -a
logger start -e -t
mavlink boot_complete
replay trystart