From 9f95f457a987b7bb3b49f8166d2cfe1c74534c65 Mon Sep 17 00:00:00 2001 From: sirPerna Date: Thu, 23 Jun 2016 18:09:07 +0200 Subject: [PATCH] Update default Caipirinha parameters (#4883) * Update default parameters for TBS Caipirinha * reverse channel 0 doesn't exist --- .../px4fmu_common/init.d/3100_tbs_caipirinha | 41 ++++++++++++------- 1 file changed, 27 insertions(+), 14 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha index 780efd9807..f9c63b18ed 100644 --- a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha +++ b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha @@ -11,31 +11,44 @@ sh /etc/init.d/rc.fw_defaults if [ $AUTOCNF == yes ] then - param set FW_AIRSPD_MAX 20 - param set FW_AIRSPD_MIN 12 - param set FW_AIRSPD_TRIM 16 - param set FW_R_TC 0.3 - param set FW_P_TC 0.3 - param set FW_L1_DAMPING 0.74 - param set FW_L1_PERIOD 16 + param set FW_AIRSPD_MAX 25 + param set FW_AIRSPD_MIN 12.5 + param set FW_AIRSPD_TRIM 16.5 + param set LNDFW_AIRSPD_MAX 6 + param set LNDFW_VELI_MAX 4 + param set LNDFW_VEL_XY_MAX 3 + param set LNDFW_VEL_Z_MAX 5 + param set FW_R_TC 0.4 + param set FW_P_TC 0.4 + param set FW_THR_CRUISE 0.55 + param set FW_L1_DAMPING 0.75 + param set FW_L1_PERIOD 15 param set FW_LND_ANG 15 - param set FW_LND_FLALT 5 + param set FW_LND_FLALT 8 param set FW_LND_HHDIST 15 param set FW_LND_HVIRT 13 - param set FW_LND_TLALT 5 + param set FW_LND_TLALT 10 param set FW_THR_LND_MAX 0 - param set FW_PR_FF 0.35 + param set FW_P_LIM_MAX 20 + param set FW_P_LIM_MIN -30 + param set FW_R_LIM 45 + param set FW_PR_FF 0.45 param set FW_PR_IMAX 0.4 - param set FW_PR_P 0.08 - param set FW_RR_FF 0.6 + param set FW_PR_P 0.005 + param set FW_RR_FF 0.45 param set FW_RR_IMAX 0.2 - param set FW_RR_P 0.04 + param set FW_RR_P 0.013 + param set FW_P_RMAX_NEG 70 + param set FW_P_RMAX_POS 70 + param set FW_R_RMAX 70 param set SYS_COMPANION 157600 - param set PWM_MAIN_REV0 1 param set PWM_MAIN_REV1 1 + param set PWM_MAIN_REV2 1 param set PWM_DISARMED 0 param set PWM_MIN 900 param set PWM_MAX 2100 + param set MIS_TAKEOFF_ALT 50 + param set NAV_LOITER_RAD 30 fi set PWM_DISARMED p:PWM_DISARMED