From 2b98add9ec91324491f11d5b219ccd3eae2c144b Mon Sep 17 00:00:00 2001 From: Julien Lecoeur Date: Fri, 25 Oct 2019 13:54:59 +0200 Subject: [PATCH] sitl iris: set inertia and update gains --- ROMFS/px4fmu_common/init.d-posix/10016_iris | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/ROMFS/px4fmu_common/init.d-posix/10016_iris b/ROMFS/px4fmu_common/init.d-posix/10016_iris index 9f90ade5bb..40e386de81 100644 --- a/ROMFS/px4fmu_common/init.d-posix/10016_iris +++ b/ROMFS/px4fmu_common/init.d-posix/10016_iris @@ -9,5 +9,18 @@ sh /etc/init.d/rc.mc_defaults +if [ $AUTOCNF = yes ] +then + param set MC_ROLLRATE_P 18.0 + param set MC_ROLLRATE_D 0.36 + param set MC_PITCHRATE_P 18.0 + param set MC_PITCHRATE_D 0.36 + param set MC_YAWRATE_P 7.0 + param set MC_YAWRATE_D 0.0 + + param set VM_INERTIA_XX 0.0083 + param set VM_INERTIA_YY 0.0083 + param set VM_INERTIA_ZZ 0.0286 +fi set MIXER quad_w