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rc.vtol_defaults: reduce maximum jerk to 4.5 m/s³ based on testing feedback

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@fury1895 reported very valuable feedback from testing
the acceleration feed-forward on VTOL:
> MPC_JERK_MAX 4.5 (from 5 on it felt too aggressive)
> MPC_JERK_AUTO 4
> some hovering, some transitions, and a mission. Everything good.
> I'd say you feel the difference in position mode and you see it in
> Auto modes. Great improvement!
This commit is contained in:
Matthias Grob 2020-03-28 21:32:30 +01:00
parent f6ceb08522
commit bda072512a
2 changed files with 2 additions and 3 deletions
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3
ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
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@ -71,8 +71,7 @@ then
param set MPC_ACC_HOR_MAX 2
param set MPC_ACC_UP_MAX 3
param set MC_AIRMODE 1
param set MPC_JERK_AUTO 8
param set MPC_JERK_AUTO 15
param set MPC_JERK_AUTO 4
param set MPC_LAND_SPEED 1
param set MPC_MAN_TILT_MAX 25
param set MPC_MAN_Y_MAX 40

2
ROMFS/px4fmu_common/init.d/rc.vtol_defaults
View File

@ -9,7 +9,6 @@ set VEHICLE_TYPE vtol
if [ $AUTOCNF = yes ]
then
# to minimize cpu usage on older boards limit inner loop to 400 Hz
param set IMU_GYRO_RATEMAX 400
@ -23,6 +22,7 @@ then
param set MPC_XY_CRUISE 3
param set MPC_XY_VEL_MAX 4
param set MPC_Z_VEL_MAX_DN 1.5
param set MPC_JERK_MAX 4.5
param set NAV_ACC_RAD 3