From 62d06357dfc2159a8288d5e98f86f764be9fad45 Mon Sep 17 00:00:00 2001 From: Azarakhsh Keipour Date: Wed, 2 Oct 2019 19:41:28 -0400 Subject: [PATCH] Tilt-Hex: Added dynamic limits to the hexa tilt model --- ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt b/ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt index fe6a68aaa6..dcaf8ca5d5 100644 --- a/ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt +++ b/ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt @@ -23,6 +23,15 @@ then param set MC_YAWRATE_P 0.08 param set MPC_Z_VEL_I 0.15 param set MPC_Z_VEL_P 0.3 + param set MC_PITCHRATE_MAX 20.0 + param set MC_ROLLRATE_MAX 20.0 + # param set MC_YAWRATE_MAX 60.0 + param set MPC_ACC_DOWN_MAX 2 + param set MPC_ACC_HOR 0.5 + param set MPC_ACC_HOR_MAX 2 + param set MPC_ACC_UP_MAX 2 + # param set MPC_XY_VEL_P 0.13 + # param set MPC_XY_VEL_MAX 4 param set RTL_DESCEND_ALT 5.0 param set RTL_LAND_DELAY 5