From a76c82f5f2e8455cd1db36b3145357b1d3f04221 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Sat, 9 Jun 2018 16:28:46 +0200
Subject: [PATCH] airframes: update 4050 generic 250 racer defaults

- P and D gains are too high for a racer
- default I gain is too low (0.25 is still quite low)
- use the thrust curve param instead of TPA
- improve responsiveness in Manual & increase max tilt angle to 60 degrees
- enable one-shot
- enable high-rate logging profile
- disable RC filter
---
 ROMFS/px4fmu_common/init.d/4050_generic_250 | 38 ++++++++++++---------
 1 file changed, 22 insertions(+), 16 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/4050_generic_250 b/ROMFS/px4fmu_common/init.d/4050_generic_250
index f636cd8827..7c5af498a5 100644
--- a/ROMFS/px4fmu_common/init.d/4050_generic_250
+++ b/ROMFS/px4fmu_common/init.d/4050_generic_250
@@ -13,32 +13,38 @@ sh /etc/init.d/4001_quad_x
 if [ $AUTOCNF == yes ]
 then
 	param set MC_ROLL_P 8.0
-	param set MC_ROLLRATE_P 0.19
-	param set MC_ROLLRATE_I 0.1
-	param set MC_ROLLRATE_D 0.0055
+	param set MC_ROLLRATE_P 0.08
+	param set MC_ROLLRATE_I 0.25
+	param set MC_ROLLRATE_D 0.001
 	param set MC_PITCH_P 8.0
-	param set MC_PITCHRATE_P 0.19
-	param set MC_PITCHRATE_I 0.1
-	param set MC_PITCHRATE_D 0.0055
+	param set MC_PITCHRATE_P 0.08
+	param set MC_PITCHRATE_I 0.25
+	param set MC_PITCHRATE_D 0.001
 	param set MC_YAW_P 4.0
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAW_FF 0.5
-	param set MC_ROLLRATE_MAX 720.0
-	param set MC_PITCHRATE_MAX 720.0
-	param set MC_YAWRATE_MAX 400.0
-	param set MC_ACRO_R_MAX 360.0
-	param set MC_ACRO_P_MAX 360.0
-	param set MC_TPA_BREAK_P 0.5
-	param set MC_TPA_RATE_P 0.5
+
+	param set MC_ROLLRATE_MAX 1600.0
+	param set MC_PITCHRATE_MAX 1600.0
+	param set MC_YAWRATE_MAX 1000.0
+
+	param set MPC_MANTHR_MIN 0.0
+	param set MPC_MAN_TILT_MAX 60
+
+	# use thrust curve factor (instead of TPA)
+	param set THR_MDL_FAC 0.3
 
 	param set PWM_MIN 1075
+	# enable one-shot
+	param set PWM_RATE 0
 
-	param set MPC_THR_MIN 0.06
-	param set MPC_MANTHR_MIN 0.06
+	# enable high-rate logging profile (helps with tuning)
+	param set SDLOG_PROFILE 19
 
-	param set ATT_BIAS_MAX 0.0
+	# disable RC filtering
+	param set RC_FLT_CUTOFF 0.00000
 
 	param set CBRK_IO_SAFETY 22027
 fi