From 77884bdd340c86b7a62cac15b7df9a097feefcfd Mon Sep 17 00:00:00 2001 From: Mathieu Bresciani Date: Mon, 8 Feb 2021 08:18:49 +0100 Subject: [PATCH] SITL boat: tune L1 and speed controllers (#16784) --- ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat b/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat index 7c11e78d17..cac17b7f86 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat @@ -8,16 +8,17 @@ if [ $AUTOCNF = yes ] then param set GND_L1_DIST 5 + param set GND_L1_PERIOD 100 param set GND_SP_CTRL_MODE 1 param set GND_SPEED_D 0.001 - param set GND_SPEED_I 3 + param set GND_SPEED_I 8 param set GND_SPEED_IMAX 0.125 - param set GND_SPEED_P 0.25 + param set GND_SPEED_P 2 param set GND_SPEED_THR_SC 1 - param set GND_SPEED_TRIM 4 - param set GND_THR_CRUISE 0.3 + param set GND_SPEED_TRIM 1 + param set GND_THR_CRUISE 0.85 param set GND_THR_IDLE 0 - param set GND_THR_MAX 0.5 + param set GND_THR_MAX 1 param set GND_THR_MIN 0 param set MIS_LTRMIN_ALT 0.01