From 6ebc88fed70a8fc767d3554793bc5e9a3df3ebce Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Wed, 20 Jul 2022 11:21:15 +0200 Subject: [PATCH] ROMFS: vtol_defaults: reduce aggressiveness around roll and yaw axis 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 --- ROMFS/px4fmu_common/init.d/rc.vtol_defaults | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults index a44c262342..ea2bf54566 100644 --- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults @@ -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