From 828992adf71c1a99a39a8d227337619faa1d66c9 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Wed, 20 Jul 2022 10:31:50 +0200 Subject: [PATCH] increase default of MPC_Z_VEL_MAX_DN and MPC_Z_V_AUTO_DN from 1 to 1.5 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 --- ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil | 1 - ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger | 1 - ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad | 1 - ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark | 1 - ROMFS/px4fmu_common/init.d/rc.vtol_defaults | 1 - src/modules/mc_pos_control/mc_pos_control_params.c | 4 ++-- 6 files changed, 2 insertions(+), 7 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil index 3b9d7f7aa3..4803c0a393 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil @@ -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 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger b/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger index eac5c973e0..c0340f86c8 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger +++ b/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger @@ -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 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad index 7249fb29bb..31e7e0b0f6 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad +++ b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad @@ -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 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark index 608038060a..caaa5d2eaa 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark +++ b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark @@ -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 diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults index cc77997627..a44c262342 100644 --- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults @@ -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 diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c index dae279826e..df0fb22d45 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -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