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mc_att_control: remove useless parameter MC_YAW_FF

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It scales the yawspeed setpoint arbitrarily by default with 0.5.
This makes no sense because when you give a setpoint of 1rad/s then
you expect the setpoint to get executed. If you want manual yawspeed
response to be less agressive on the stick use the scaling parameter
for the stick MPC_MAN_Y_MAX.
This commit is contained in:
Matthias Grob
2018-07-20 09:26:18 +02:00
committed by Lorenz Meier
parent b5731e0ccd
commit cc0bc05156
24 changed files with 3 additions and 41 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
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@@ -36,7 +36,6 @@ then
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.5
param set BAT_N_CELLS 4
fi
ROMFS/px4fmu_common/init.d/12002_steadidrone_mavrik
-1
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@@ -37,7 +37,6 @@ then
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.5
param set MPC_HOLD_MAX_XY 0.25
param set MPC_THR_MIN 0.15
ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol
-1
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@@ -28,7 +28,6 @@ then
param set MC_PITCHRATE_D 0.003
param set MC_PITCHRATE_FF 0.0
param set MC_YAW_P 3.8
param set MC_YAW_FF 0.5
param set MC_YAWRATE_P 0.22
param set MC_YAWRATE_I 0.02
param set MC_YAWRATE_D 0.0
ROMFS/px4fmu_common/init.d/13002_firefly6
-1
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@@ -33,7 +33,6 @@ then
param set MC_PITCHRATE_D 0.004
param set MC_PITCHRATE_FF 0.0
param set MC_YAW_P 4.0
param set MC_YAW_FF 0.5
param set MC_YAWRATE_P 0.22
param set MC_YAWRATE_I 0.02
param set MC_YAWRATE_D 0.0
ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad
-1
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@@ -39,7 +39,6 @@ then
param set MC_PITCHRATE_D 0.004
param set MC_PITCHRATE_FF 0.0
param set MC_YAW_P 2.8
param set MC_YAW_FF 0.5
param set MC_YAWRATE_P 0.22
param set MC_YAWRATE_I 0.02
param set MC_YAWRATE_D 0.0
ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta
-1
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@@ -35,7 +35,6 @@ then
param set MC_PITCHRATE_D 0.003
param set MC_PITCHRATE_FF 0.0
param set MC_YAW_P 3.5
param set MC_YAW_FF 0.5
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad
-1
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@@ -27,7 +27,6 @@ then
param set MC_PITCHRATE_D 0.003
param set MC_PITCHRATE_FF 0.0
param set MC_YAW_P 2.8
param set MC_YAW_FF 0.5
param set MC_YAWRATE_P 0.22
param set MC_YAWRATE_I 0.02
param set MC_YAWRATE_D 0.0
ROMFS/px4fmu_common/init.d/13008_QuadRanger
-1
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@@ -30,7 +30,6 @@ then
param set MC_PITCHRATE_D 0.004
param set MC_PITCHRATE_FF 0.0
param set MC_YAW_P 3.5
param set MC_YAW_FF 0.7
param set MC_YAWRATE_P 0.6
param set MC_YAWRATE_I 0.04
param set MC_YAWRATE_D 0.0
ROMFS/px4fmu_common/init.d/13012_convergence
-1
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@@ -62,7 +62,6 @@ then
param set MC_ROLL_P 6.0
param set MC_YAWRATE_MAX 120
param set MC_YAWRATE_P 0.27
param set MC_YAW_FF 0.35
param set MC_YAW_P 2.5
param set MC_YAWRATE_P 0.3
ROMFS/px4fmu_common/init.d/13013_deltaquad
-1
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@@ -93,7 +93,6 @@ then
param set MC_PITCHRATE_FF 0.0
param set MC_PITCHRATE_MAX 80
param set MC_YAW_P 3.5
param set MC_YAW_FF 0.5
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
ROMFS/px4fmu_common/init.d/15001_coax_heli
-1
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@@ -37,7 +37,6 @@ then
param set MC_PITCHRATE_D 0.005
param set MC_PITCHRATE_FF 0
param set MC_YAW_P 2
param set MC_YAW_FF 0.5
param set MC_YAWRATE_P 0.1
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
ROMFS/px4fmu_common/init.d/16001_helicopter
-1
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@@ -39,7 +39,6 @@ then
param set MC_YAWRATE_P 0.1
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.0
param set MC_ROLLRATE_MAX 720.0
param set MC_PITCHRATE_MAX 720.0
param set MC_YAWRATE_MAX 400.0
ROMFS/px4fmu_common/init.d/4003_qavr5
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@@ -26,7 +26,6 @@ then
param set MC_YAWRATE_P 0.15
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.5
param set MC_TPA_BREAK_P 0.7
param set MC_TPA_RATE_P 0.3
param set PWM_MIN 1075
ROMFS/px4fmu_common/init.d/4009_qav250
-1
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@@ -24,7 +24,6 @@ then
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.5
param set PWM_MIN 1075
param set MPC_THR_MIN 0.06
param set MPC_MANTHR_MIN 0.06
ROMFS/px4fmu_common/init.d/4013_bebop
-1
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@@ -35,7 +35,6 @@ then
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
fi
set OUTPUT_MODE bebop
ROMFS/px4fmu_common/init.d/4050_generic_250
-1
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@@ -24,7 +24,6 @@ then
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.5
param set MC_ROLLRATE_MAX 1600.0
param set MC_PITCHRATE_MAX 1600.0
ROMFS/px4fmu_common/init.d/4051_s250aq
-1
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@@ -40,7 +40,6 @@ then
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.5
param set MC_ROLLRATE_MAX 720.0
param set MC_PITCHRATE_MAX 720.0
param set MC_YAWRATE_MAX 400.0
ROMFS/px4fmu_common/init.d/4070_aerofc
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@@ -41,7 +41,6 @@ then
param set MC_YAWRATE_P 0.119999997317790985
param set MC_YAWRATE_I 0.050000000745058060
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.5
param set MPC_LAND_SPEED 0.7000
param set MPC_MANTHR_MIN 0.0400
ROMFS/px4fmu_common/init.d/4080_zmr250
-1
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@@ -31,7 +31,6 @@ then
param set MC_YAWRATE_P 0.15
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.5
param set MC_ACRO_R_MAX 1000.0
param set MC_ACRO_P_MAX 1000.0
ROMFS/px4fmu_common/init.d/4090_nanomind
-1
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@@ -31,7 +31,6 @@ then
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.5
param set BAT_N_CELLS 1