From bda072512a97eac74b3c74ce07cbc0dcf09db5d6 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Sat, 28 Mar 2020 21:32:30 +0100 Subject: [PATCH] =?UTF-8?q?rc.vtol=5Fdefaults:=20reduce=20maximum=20jerk?= =?UTF-8?q?=20to=204.5=20m/s=C2=B3=20based=20on=20testing=20feedback?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit @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! --- ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark | 3 +-- ROMFS/px4fmu_common/init.d/rc.vtol_defaults | 2 +- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark index b4d220793f..18b5bbd0de 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark +++ b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark @@ -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 diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults index 4e577ffc25..e4e068fe01 100644 --- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults @@ -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