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IMU_GYRO_RATEMAX set system default to 400 Hz

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- MC default is still 800 Hz
This commit is contained in:
Daniel Agar
2021-03-02 10:08:49 -05:00
parent 16af63e99c
commit c9a2d0ed34
30 changed files with 39 additions and 128 deletions
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ROMFS/px4fmu_common/init.d-posix/rcS
+34 -31
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@@ -117,49 +117,49 @@ if [ $AUTOCNF = yes ]
then
param set SYS_AUTOSTART $REQUESTED_AUTOSTART
param set BAT_N_CELLS 4
param set CAL_ACC0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
param set CAL_ACC1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
param set CAL_ACC2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
param set CAL_ACC0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
param set CAL_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
param set CAL_ACC1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
param set CAL_GYRO1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
param set CAL_ACC2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
param set CAL_MAG0_ID 197388
param set CAL_MAG1_ID 197644
param set CBRK_AIRSPD_CHK 0
param set CBRK_SUPPLY_CHK 894281
# Don't require RC calibration and configuration
param set COM_RC_IN_MODE 1
# Speedup SITL startup
param set EKF2_REQ_GPS_H 0.5
# Multi-EKF
param set EKF2_MULTI_IMU 3
param set SENS_IMU_MODE 0
param set EKF2_MULTI_MAG 2
param set SENS_MAG_MODE 0
# By default log from boot until first disarm.
param set SDLOG_MODE 1
# enable default, estimator replay and vision/avoidance logging profiles
param set SDLOG_PROFILE 131
param set SDLOG_DIRS_MAX 7
param set SENS_BOARD_ROT 0
param set SENS_BOARD_X_OFF 0.000001
param set SENS_DPRES_OFF 0.001
param set SYS_RESTART_TYPE 2
param set TRIG_INTERFACE 3
param set SYS_RESTART_TYPE 2
fi
param set COM_CPU_MAX -1 # disable check, no CPU load reported on posix yet
param set-default BAT_N_CELLS 4
# Simulator IMU data provided at 250 Hz
param set IMU_INTEG_RATE 250
param set-default CBRK_AIRSPD_CHK 0
param set-default CBRK_SUPPLY_CHK 894281
# disable check, no CPU load reported on posix yet
param set-default COM_CPU_MAX -1
# Don't require RC calibration and configuration
param set-default COM_RC_IN_MODE 1
# Speedup SITL startup
param set-default EKF2_REQ_GPS_H 0.5
# Multi-EKF
param set-default EKF2_MULTI_IMU 3
param set-default SENS_IMU_MODE 0
param set-default EKF2_MULTI_MAG 2
param set-default SENS_MAG_MODE 0
# By default log from boot until first disarm.
param set-default SDLOG_MODE 1
# enable default, estimator replay and vision/avoidance logging profiles
param set-default SDLOG_PROFILE 131
param set-default SDLOG_DIRS_MAX 7
param set-default TRIG_INTERFACE 3
# Adapt timeout parameters if simulation runs faster or slower than realtime.
if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
@@ -206,6 +206,9 @@ then
param set SYS_AUTOCONFIG 0
fi
# Simulator IMU data provided at 250 Hz
param set IMU_INTEG_RATE 250
dataman start
# only start the simulator if not in replay mode, as both control the lockstep time
if ! replay tryapplyparams
ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames
-3
View File
@@ -21,11 +21,8 @@
set MIXER quad_x
set PWM_OUT 1234
param set-default IMU_GYRO_CUTOFF 40
param set-default IMU_DGYRO_CUTOFF 20
param set-default IMU_GYRO_RATEMAX 400
param set-default MC_ROLLRATE_P 0.18
param set-default MC_ROLLRATE_I 0.15
ROMFS/px4fmu_common/init.d/rc.mc_defaults
+2
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@@ -7,6 +7,8 @@
set VEHICLE_TYPE mc
param set-default IMU_GYRO_RATEMAX 800
param set-default NAV_ACC_RAD 2
param set-default RTL_RETURN_ALT 30
ROMFS/px4fmu_common/init.d/rc.vtol_defaults
-3
View File
@@ -7,9 +7,6 @@
set VEHICLE_TYPE vtol
# to minimize cpu usage on older boards limit inner loop to 400 Hz
param set-default IMU_GYRO_RATEMAX 400
param set-default MIS_TAKEOFF_ALT 20
param set-default MIS_YAW_TMT 10