From 2fc6cdd9948bd800712892cea80ce3c3c591a19d Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 27 Apr 2016 15:30:44 +0200 Subject: [PATCH] Gazebo SITL: Ensure a tightly closed altitude control loop --- posix-configs/SITL/init/rcS_gazebo_iris | 2 ++ posix-configs/SITL/init/rcS_gazebo_iris_opt_flow | 3 ++- posix-configs/SITL/init/rcS_gazebo_standard_vtol | 2 ++ posix-configs/SITL/init/rcS_gazebo_tailsitter | 2 ++ 4 files changed, 8 insertions(+), 1 deletion(-) diff --git a/posix-configs/SITL/init/rcS_gazebo_iris b/posix-configs/SITL/init/rcS_gazebo_iris index 3cf11a5bdd..dd27b3f4c2 100644 --- a/posix-configs/SITL/init/rcS_gazebo_iris +++ b/posix-configs/SITL/init/rcS_gazebo_iris @@ -31,6 +31,8 @@ param set MC_ROLLRATE_P 0.25 param set MC_PITCHRATE_P 0.25 param set MC_PITCH_P 5 param set MC_ROLL_P 5 +param set MPC_Z_VEL_P 0.8 +param set MPC_Z_VEL_I 0.15 simulator start -s rgbledsim start tone_alarm start diff --git a/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow b/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow index ce63e31f72..271a9bc9e4 100644 --- a/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow +++ b/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow @@ -31,7 +31,8 @@ param set MC_ROLLRATE_P 0.25 param set MC_PITCHRATE_P 0.25 param set MC_PITCH_P 5 param set MC_ROLL_P 5 -param set MPC_XY_VEL_P 0.05 +param set MPC_Z_VEL_P 0.8 +param set MPC_Z_VEL_I 0.15 simulator start -s rgbledsim start tone_alarm start diff --git a/posix-configs/SITL/init/rcS_gazebo_standard_vtol b/posix-configs/SITL/init/rcS_gazebo_standard_vtol index ade9d105f8..c9b0296a86 100644 --- a/posix-configs/SITL/init/rcS_gazebo_standard_vtol +++ b/posix-configs/SITL/init/rcS_gazebo_standard_vtol @@ -27,6 +27,8 @@ param set MPC_XY_VEL_P 0.05 param set MPC_XY_VEL_D 0.005 param set MPC_XY_FF 0.1 param set MPC_Z_VEL_MAX 1.5 +param set MPC_Z_VEL_P 0.8 +param set MPC_Z_VEL_I 0.15 param set SENS_BOARD_ROT 8 param set SENS_DPRES_OFF 0.001 param set SENS_BOARD_X_OFF 0.000001 diff --git a/posix-configs/SITL/init/rcS_gazebo_tailsitter b/posix-configs/SITL/init/rcS_gazebo_tailsitter index a686fac957..57367ce3ff 100644 --- a/posix-configs/SITL/init/rcS_gazebo_tailsitter +++ b/posix-configs/SITL/init/rcS_gazebo_tailsitter @@ -27,6 +27,8 @@ param set MPC_XY_VEL_P 0.05 param set MPC_XY_VEL_D 0.005 param set MPC_XY_FF 0.1 param set MPC_Z_VEL_MAX 1.0 +param set MPC_Z_VEL_P 0.8 +param set MPC_Z_VEL_I 0.15 param set SENS_BOARD_ROT 8 param set SENS_DPRES_OFF 0.001 param set SENS_BOARD_X_OFF 0.000001