From a65542584959c293b0f512b6ba1ea8b02166d629 Mon Sep 17 00:00:00 2001 From: Azarakhsh Keipour Date: Mon, 30 Dec 2019 21:31:23 -0500 Subject: [PATCH] Omni: Set the default OMNI_MAX_HOR_THR to 0.15 --- ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt | 1 + ROMFS/px4fmu_common/init.d/airframes/6100_hexa_tilt_x | 1 + src/modules/mc_att_control/mc_att_control_params.c | 2 +- 3 files changed, 3 insertions(+), 1 deletion(-) diff --git a/ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt b/ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt index 4ff8fa0457..cb9c4c8bcf 100644 --- a/ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt +++ b/ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt @@ -39,6 +39,7 @@ then param set SDLOG_PROFILE 179 param set OMNI_ATT_MODE 2 + param set OMNI_MAX_HOR_THR 0.15 fi set MAV_TYPE 13 diff --git a/ROMFS/px4fmu_common/init.d/airframes/6100_hexa_tilt_x b/ROMFS/px4fmu_common/init.d/airframes/6100_hexa_tilt_x index 018ac2ecd0..a3499957d0 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/6100_hexa_tilt_x +++ b/ROMFS/px4fmu_common/init.d/airframes/6100_hexa_tilt_x @@ -47,6 +47,7 @@ then param set BAT_N_CELLS 4 param set OMNI_ATT_MODE 2 + param set OMNI_MAX_HOR_THR 0.15 fi # Set mixer diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c index 8347a2aca2..646cff5cba 100644 --- a/src/modules/mc_att_control/mc_att_control_params.c +++ b/src/modules/mc_att_control/mc_att_control_params.c @@ -158,4 +158,4 @@ PARAM_DEFINE_FLOAT(MC_RATT_TH, 0.8f); * @decimal 2 * @group Multicopter Attitude Control */ -PARAM_DEFINE_FLOAT(OMNI_MAX_HOR_THR, 0.3f); +PARAM_DEFINE_FLOAT(OMNI_MAX_HOR_THR, 0.15f);