From 4f668c0c2d3da8693811bf8d5ccb2351066270d4 Mon Sep 17 00:00:00 2001 From: bresch Date: Wed, 3 Oct 2018 14:53:06 +0200 Subject: [PATCH] SITL - update default velocity PID gains --- ROMFS/px4fmu_common/init.d-posix/rcS | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS index 8cb15f8e5a..cbf39d464d 100644 --- a/ROMFS/px4fmu_common/init.d-posix/rcS +++ b/ROMFS/px4fmu_common/init.d-posix/rcS @@ -131,6 +131,14 @@ then param set MPC_HOLD_MAX_Z 2.0 param set MPC_Z_VEL_I 0.15 param set MPC_Z_VEL_P 0.6 + param set MPC_XY_P 0.8 + param set MPC_XY_VEL_P 0.2 + param set MPC_XY_VEL_I 0.02 + param set MPC_XY_VEL_D 0.016 + + param set MPC_JERK_MIN 10.0 + param set MPC_JERK_MAX 20.0 + param set MPC_ACC_HOR_MAX 3.0 param set NAV_ACC_RAD 2.0 param set NAV_DLL_ACT 2