From 5226ffb3a7481543751dd8fed65bd135a4f1a55d Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 30 Aug 2015 22:42:28 +0200 Subject: [PATCH 1/3] IRIS config: Use tighter attitude control gains --- ROMFS/px4fmu_common/init.d/10016_3dr_iris | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris index a2536e5418..ffaa935055 100644 --- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris +++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris @@ -13,11 +13,11 @@ if [ $AUTOCNF == yes ] then # TODO tune roll/pitch separately param set MC_ROLL_P 7.0 - param set MC_ROLLRATE_P 0.13 + param set MC_ROLLRATE_P 0.15 param set MC_ROLLRATE_I 0.05 param set MC_ROLLRATE_D 0.004 param set MC_PITCH_P 7.0 - param set MC_PITCHRATE_P 0.13 + param set MC_PITCHRATE_P 0.15 param set MC_PITCHRATE_I 0.05 param set MC_PITCHRATE_D 0.004 param set MC_YAW_P 2.5 From 76bb1eb1d8f92661df1901f76437fbda969a90d2 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 30 Aug 2015 22:42:46 +0200 Subject: [PATCH 2/3] F330: Use tighter attitude control gains --- ROMFS/px4fmu_common/init.d/4010_dji_f330 | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/4010_dji_f330 index 4303320ffe..aea5292a24 100644 --- a/ROMFS/px4fmu_common/init.d/4010_dji_f330 +++ b/ROMFS/px4fmu_common/init.d/4010_dji_f330 @@ -16,11 +16,11 @@ sh /etc/init.d/4001_quad_x if [ $AUTOCNF == yes ] then param set MC_ROLL_P 7.0 - param set MC_ROLLRATE_P 0.13 + param set MC_ROLLRATE_P 0.15 param set MC_ROLLRATE_I 0.05 param set MC_ROLLRATE_D 0.003 param set MC_PITCH_P 7.0 - param set MC_PITCHRATE_P 0.13 + param set MC_PITCHRATE_P 0.15 param set MC_PITCHRATE_I 0.05 param set MC_PITCHRATE_D 0.003 param set MC_YAW_P 2.8 From d722292381a0eb4bde72615385caa8f7bf7d73f5 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 30 Aug 2015 22:43:07 +0200 Subject: [PATCH 3/3] MC attitude controller: Use tighter attitude control gains --- src/modules/mc_att_control/mc_att_control_params.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c index 9af68a4e1e..30a50480e0 100644 --- a/src/modules/mc_att_control/mc_att_control_params.c +++ b/src/modules/mc_att_control/mc_att_control_params.c @@ -36,8 +36,8 @@ * Parameters for multicopter attitude controller. * * @author Tobias Naegeli - * @author Lorenz Meier - * @author Anton Babushkin + * @author Lorenz Meier + * @author Anton Babushkin */ #include @@ -60,7 +60,7 @@ PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.5f); * @min 0.0 * @group Multicopter Attitude Control */ -PARAM_DEFINE_FLOAT(MC_ROLLRATE_P, 0.12f); +PARAM_DEFINE_FLOAT(MC_ROLLRATE_P, 0.15f); /** * Roll rate I gain @@ -111,7 +111,7 @@ PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.5f); * @min 0.0 * @group Multicopter Attitude Control */ -PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.12f); +PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.15f); /** * Pitch rate I gain