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ROMFS: vtol_defaults: reduce aggressiveness around roll and yaw axis

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For most VTOLs the param defaults for the agressiveness of the MC attitude controller
are too high, as VTOLs usually have high intertia and lot af drag due to wings and
can thus not rotate as fast as MCs.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2022-07-20 11:21:15 +02:00
parent a064164c14
commit 6ebc88fed7
1 changed files with 8 additions and 0 deletions
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8
ROMFS/px4fmu_common/init.d/rc.vtol_defaults
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@ -28,6 +28,14 @@ param set-default MPC_XY_VEL_MAX 8
param set-default MPC_JERK_MAX 4.5
param set-default MPC_YAW_MODE 4
# reduce aggressiveness around roll and yaw axis,
# as VTOLs usually have high intertia and lot af drag due to wings
param set-default MC_ROLL_P 5
param set-default MC_ROLLRATE_MAX 120
param set-default MC_YAW_P 2
param set-default MC_YAWRATE_MAX 120
param set-default MPC_MAN_Y_MAX 90
param set-default PWM_AUX_RATE 50
param set-default PWM_MAIN_RATE 400