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increase default of MPC_Z_VEL_MAX_DN and MPC_Z_V_AUTO_DN from 1 to 1.5

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I think most vehicle can safely decend with at least 1.5m/s, and having this
value too low makes Descents/Landings/RTLs unnecessary long.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-07-20 10:31:50 +02:00
parent c42667ac64
commit 828992adf7
6 changed files with 2 additions and 7 deletions
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ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
-1
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@@ -45,7 +45,6 @@ param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_Z_VEL_P_ACC 12
param set-default MPC_Z_VEL_I_ACC 3
param set-default MPC_Z_VEL_MAX_DN 1.5
param set-default NAV_ACC_RAD 5
param set-default NAV_DLL_ACT 2
ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
-1
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@@ -31,7 +31,6 @@ param set-default MC_YAWRATE_I 0.04
param set-default MC_YAWRATE_MAX 40
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_Z_VEL_MAX_DN 1.5
param set-default MPC_LAND_SPEED 0.8
param set-default MPC_YAWRAUTO_MAX 40
ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
-1
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@@ -90,7 +90,6 @@ param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_LAND_SPEED 1.2
param set-default MPC_TILTMAX_LND 35
param set-default MPC_Z_VEL_MAX_UP 1.5
param set-default MPC_Z_VEL_MAX_DN 1.5
param set-default MPC_HOLD_MAX_XY 0.5
param set-default MPC_HOLD_MAX_Z 0.5
param set-default MPC_TKO_RAMP_T 0.8
ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
-1
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@@ -71,7 +71,6 @@ param set-default MPC_VEL_MANUAL 3
param set-default MPC_XY_CRUISE 3
param set-default MPC_XY_VEL_MAX 3.5
param set-default MPC_YAWRAUTO_MAX 40
param set-default MPC_Z_VEL_MAX_DN 1.5
param set-default MPC_Z_VEL_MAX_UP 2
param set-default NAV_ACC_RAD 3
ROMFS/px4fmu_common/init.d/rc.vtol_defaults
-1
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@@ -25,7 +25,6 @@ param set-default MPC_VEL_MANUAL 5
param set-default MPC_XY_CRUISE 5
param set-default MPC_XY_ERR_MAX 5
param set-default MPC_XY_VEL_MAX 8
param set-default MPC_Z_VEL_MAX_DN 1.5
param set-default MPC_JERK_MAX 4.5
param set-default MPC_YAW_MODE 4
src/modules/mc_pos_control/mc_pos_control_params.c
+2 -2
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@@ -242,7 +242,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_UP, 3.f);
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_DN, 1.f);
PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_DN, 1.5f);
/**
* Maximum descent velocity
@@ -257,7 +257,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_DN, 1.f);
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_DN, 1.f);
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_DN, 1.5f);
/**
* Proportional gain for horizontal position error