From 43a1257843173359d404debb7ce1d857f573c0a7 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Fri, 21 Feb 2020 14:17:18 +0100 Subject: [PATCH] ROMFS: prevent auto-disarm before takeoff in CI Sometimes in CI for VTOL we saw disarms before the spoolup and ramp were over and the takeoff would actually happen. By raising the auto-disarm time we should be able to work around this and get CI less flaky. --- ROMFS/px4fmu_common/init.d-posix/rcS | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS index 14c8d9a4c9..095c369b16 100644 --- a/ROMFS/px4fmu_common/init.d-posix/rcS +++ b/ROMFS/px4fmu_common/init.d-posix/rcS @@ -132,7 +132,7 @@ then param set CBRK_AIRSPD_CHK 0 - param set COM_DISARM_LAND 0.1 + param set COM_DISARM_LAND 0.5 param set COM_OBL_ACT 2 param set COM_OBL_RC_ACT 0 param set COM_OF_LOSS_T 5 @@ -169,6 +169,8 @@ then param set MPC_JERK_MIN 10 param set MPC_JERK_MAX 20 param set MPC_ACC_HOR_MAX 3 + param set MPC_SPOOLUP_TIME 0.5 + param set MPC_TKO_RAMP_T 1 param set NAV_ACC_RAD 2 param set NAV_DLL_ACT 2