fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

bebop config: updated some gains for decent performance

Browse Source 
Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman 2016-12-16 20:46:14 +01:00 committed by Lorenz Meier
parent 0c7e9b0e6d
commit c38e378f59
1 changed files with 18 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

32
posix-configs/bebop/px4.config
View File

@ -4,23 +4,27 @@ param load
param set SYS_AUTOSTART 4013
param set MAV_BROADCAST 1
param set MAV_TYPE 3
param set MPC_XY_VEL_P 0.12
param set MPC_XY_P 1.3
param set MPC_XY_VEL_D 0.002
param set MPC_XY_VEL_D 0.006
param set MPC_XY_VEL_I 0.05
param set MC_ROLL_P 6.5
param set MC_ROLLRATE_P 0.109999999403953552
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.0006
param set MC_PITCH_P 6.5
param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.000799999
param set MC_YAW_P 1.049999
param set MC_YAWRATE_P 0.05
param set MC_YAWRATE_I 0.001
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.7
param set MPC_Z_VEL_I 0.1
param set MPC_ACC_HOR_MAX 2
param set MPC_XY_VEL_MAX 2
param set MC_YAW_P 4.0
param set MC_YAWRATE_P 0.08
param set MC_YAW_FF 0.5
param set MC_ROLLRATE_P 0.08
param set MC_ROLLRATE_D 0.001
param set MC_ROLLRATE_I 0.1
param set MC_PITCHRATE_P 0.08
param set MC_PITCHRATE_D 0.001
param set MC_PITCHRATE_I 0.1
df_ms5607_wrapper start
df_mpu6050_wrapper start -R 8
df_ak8963_wrapper start -R 32