From 64ac8c18d2549b7c165a5a62346281867c893dfa Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Mon, 17 Jun 2019 10:52:41 +0200 Subject: [PATCH] mc airframes: increase I gains a bit Previous commit allows to increase them again. Partially reverts commit 6c3e79f3614f0060d5998c39be358512101252ff. --- ROMFS/px4fmu_common/init.d/airframes/4041_beta75x | 2 +- ROMFS/px4fmu_common/init.d/airframes/4050_generic_250 | 2 +- ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 | 4 ++-- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x index be3c9afba5..2f4949b49a 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x +++ b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x @@ -31,7 +31,7 @@ then param set MC_AIRMODE 2 param set MC_PITCHRATE_D 0.0010 - param set MC_PITCHRATE_I 0.4 + param set MC_PITCHRATE_I 0.5 param set MC_PITCHRATE_MAX 600 param set MC_PITCHRATE_P 0.0750 param set MC_PITCH_P 6 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250 b/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250 index 324d6f7f79..2b465501fb 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250 +++ b/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250 @@ -17,7 +17,7 @@ if [ $AUTOCNF = yes ] then param set MC_ROLL_P 8 param set MC_ROLLRATE_P 0.08 - param set MC_ROLLRATE_I 0.2 + param set MC_ROLLRATE_I 0.25 param set MC_ROLLRATE_D 0.001 param set MC_PITCH_P 8 param set MC_PITCHRATE_P 0.08 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 b/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 index d720fb0c74..07ce82eea8 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 +++ b/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 @@ -26,12 +26,12 @@ then param set MC_AIRMODE 1 param set MC_PITCHRATE_D 0.0012 - param set MC_PITCHRATE_I 0.25 + param set MC_PITCHRATE_I 0.35 param set MC_PITCHRATE_MAX 1200 param set MC_PITCHRATE_P 0.082 param set MC_PITCH_P 8 param set MC_ROLLRATE_D 0.0012 - param set MC_ROLLRATE_I 0.2 + param set MC_ROLLRATE_I 0.3 param set MC_ROLLRATE_MAX 1200 param set MC_ROLLRATE_P 0.076 param set MC_ROLL_P 8