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mc_att_control: remove time constant parameter

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Because the parameter does not make sense from a control theory
perspective. Either you have a gain with the unit 1/s or an inverse
gain or time constant with the unit s. But the time constant parameter
was neither bound to any exact unit nor did it apply instead of a gain.
Rather it adjusted multiple gains from rate and attitude control
according to an arbitrary scale. This can only by accident lead to
good tuning.
This commit is contained in:
Matthias Grob
2018-03-15 17:16:14 +01:00
parent ba5f2254cd
commit 6317d36ec9
3 changed files with 12 additions and 54 deletions
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ROMFS/px4fmu_common/init.d/4080_zmr250
+6 -8
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@@ -17,17 +17,15 @@ set PWM_OUT 1234
if [ $AUTOCNF == yes ]
then
param set MC_ROLL_P 2.0
param set MC_ROLLRATE_P 0.05
param set MC_ROLL_P 2.2
param set MC_ROLLRATE_P 0.06
param set MC_ROLLRATE_I 0.2
param set MC_ROLLRATE_D 0.0015
param set MC_ROLL_TC 0.18
param set MC_ROLLRATE_D 0.0017
param set MC_PITCH_P 2.0
param set MC_PITCHRATE_P 0.05
param set MC_PITCH_P 2.2
param set MC_PITCHRATE_P 0.06
param set MC_PITCHRATE_I 0.2
param set MC_PITCHRATE_D 0.0015
param set MC_PITCH_TC 0.18
param set MC_PITCHRATE_D 0.0017
param set MC_YAW_P 1.0
param set MC_YAWRATE_P 0.15