From 6c3e79f3614f0060d5998c39be358512101252ff Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Thu, 28 Feb 2019 06:50:14 +0100 Subject: [PATCH] mc airframes: reduce I gains a bit A side-effect of the previous commit is that the integral is loaded up during a flip, which leads to visible bounce-backs after a flip. Reducing the I helps, but there's a trade-off and we'll need a better solution. --- 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 | 8 ++++---- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x index 2f4949b49a..be3c9afba5 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 0.5 + param set MC_PITCHRATE_I 0.4 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 2b465501fb..324d6f7f79 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 0.25 + param set MC_ROLLRATE_I 0.2 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 1043b60c21..d720fb0c74 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 +++ b/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 @@ -26,14 +26,14 @@ then param set MC_AIRMODE 1 param set MC_PITCHRATE_D 0.0012 - param set MC_PITCHRATE_I 0.45 + param set MC_PITCHRATE_I 0.25 param set MC_PITCHRATE_MAX 1200 - param set MC_PITCHRATE_P 0.084 + 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 0.45 + param set MC_ROLLRATE_I 0.2 param set MC_ROLLRATE_MAX 1200 - param set MC_ROLLRATE_P 0.078 + param set MC_ROLLRATE_P 0.076 param set MC_ROLL_P 8 param set MC_YAWRATE_I 0.3 param set MC_YAWRATE_MAX 600