From c722e2733f88123106b8b93045175cb4d8aaceae Mon Sep 17 00:00:00 2001 From: Mark Whitehorn Date: Sun, 11 Dec 2016 12:04:46 -0700 Subject: [PATCH] update s250aq config for new TPA params --- ROMFS/px4fmu_common/init.d/4051_s250aq | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/4051_s250aq b/ROMFS/px4fmu_common/init.d/4051_s250aq index 72841bee35..f5ab088611 100644 --- a/ROMFS/px4fmu_common/init.d/4051_s250aq +++ b/ROMFS/px4fmu_common/init.d/4051_s250aq @@ -42,8 +42,12 @@ then 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_TPA_BREAK_D 0.3 + param set MC_TPA_BREAK_I 1.0 + param set MC_TPA_BREAK_P 0.3 + param set MC_TPA_RATE_D 1.0 + param set MC_TPA_RATE_I 0.0 + param set MC_TPA_RATE_P 1.0 param set PWM_MIN 1075