From 6104fe89320ac7ea3078168b043f77a72f143842 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Wed, 13 Jan 2021 20:22:59 +0100 Subject: [PATCH] ROMFS: improve tuning of tiltrotor VTOL SITL Signed-off-by: Silvan Fuhrer --- .../init.d-posix/airframes/1042_tiltrotor | 16 +++++++++++++--- 1 file changed, 13 insertions(+), 3 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor b/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor index 2e21ce57db..0db67a0480 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor @@ -14,9 +14,19 @@ then param set FW_PR_FF 0.2 param set FW_PR_I 0.4 param set FW_PR_P 0.9 - param set FW_PSP_OFF 3 + param set FW_PSP_OFF 2 + param set FW_P_LIM_MAX 32 + param set FW_P_LIM_MIN -15 param set FW_RR_FF 0.1 param set FW_RR_P 0.3 + param set FW_THR_MAX 0.6 + param set FW_THR_MIN 0.05 + param set FW_T_ALT_TC 2 + param set FW_T_CLMB_MAX 8 + param set FW_T_HRATE_FF 0.5 + param set FW_T_SINK_MAX 2.7 + param set FW_T_SINK_MIN 2.2 + param set FW_T_TAS_TC 2 param set MC_YAW_P 1.6 @@ -28,10 +38,10 @@ then param set MPC_XY_VEL_I_ACC 4 param set MPC_XY_VEL_D_ACC 0.1 - param set NAV_LOITER_RAD 100 + param set NAV_ACC_RAD 5 + param set NAV_LOITER_RAD 80 param set VT_B_TRANS_DUR 8 - param set VT_ELEV_MC_LOCK 0 param set VT_FWD_THRUST_EN 4 param set VT_MOT_ID 1234 param set VT_TILT_TRANS 0.6