From 35f204249b4cf53c2539efd69b42713eba73c039 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 6 Aug 2015 20:48:53 +0200 Subject: [PATCH 1/5] Fix TBS disco default gains --- ROMFS/px4fmu_common/init.d/10015_tbs_discovery | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery index 2058d10091..fabe12703f 100644 --- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery +++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery @@ -12,12 +12,12 @@ sh /etc/init.d/rc.mc_defaults if [ $AUTOCNF == yes ] then # TODO review MC_YAWRATE_I - param set MC_ROLL_P 8.0 - param set MC_ROLLRATE_P 0.07 + param set MC_ROLL_P 6.5 + param set MC_ROLLRATE_P 0.1 param set MC_ROLLRATE_I 0.05 param set MC_ROLLRATE_D 0.0017 - param set MC_PITCH_P 8.0 - param set MC_PITCHRATE_P 0.1 + param set MC_PITCH_P 6.5 + param set MC_PITCHRATE_P 0.14 param set MC_PITCHRATE_I 0.1 param set MC_PITCHRATE_D 0.0025 param set MC_YAW_P 2.8 From e0870d09cd98a5329f45c279142e14abd20018e6 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 6 Aug 2015 22:08:34 +0200 Subject: [PATCH 2/5] TBS disco config: Yaw rate looking good --- ROMFS/px4fmu_common/init.d/10015_tbs_discovery | 1 - 1 file changed, 1 deletion(-) diff --git a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery index fabe12703f..0acb4088f4 100644 --- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery +++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery @@ -11,7 +11,6 @@ sh /etc/init.d/rc.mc_defaults if [ $AUTOCNF == yes ] then - # TODO review MC_YAWRATE_I param set MC_ROLL_P 6.5 param set MC_ROLLRATE_P 0.1 param set MC_ROLLRATE_I 0.05 From ebb061764a23d075dfd22a7d6fc3a8e03f048ae9 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 6 Aug 2015 22:09:09 +0200 Subject: [PATCH 3/5] MC attitude control: Limit yaw rate further to avoid mixer saturation in the first place --- src/modules/mc_att_control/mc_att_control_params.c | 6 ++++-- 1 file changed, 4 insertions(+), 2 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 42c7bc3d04..9af68a4e1e 100644 --- a/src/modules/mc_att_control/mc_att_control_params.c +++ b/src/modules/mc_att_control/mc_att_control_params.c @@ -232,14 +232,16 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_MAX, 360.0f); /** * Max yaw rate * - * Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. + * Limit for yaw rate, has effect for large rotations in autonomous mode, + * to avoid large control output and mixer saturation. A value of significantly + * over 60 degrees per second can already lead to mixer saturation. * * @unit deg/s * @min 0.0 * @max 360.0 * @group Multicopter Attitude Control */ -PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 120.0f); +PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 60.0f); /** * Max acro roll rate From 8b7f1cf560220f649001d2927e4831dd9504be31 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 6 Aug 2015 22:09:35 +0200 Subject: [PATCH 4/5] MC multi attitude control: Limit yaw rate to avoid mixer saturation. --- .../mc_att_control_multiplatform/mc_att_control_params.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control_params.h b/src/modules/mc_att_control_multiplatform/mc_att_control_params.h index c3b71715bb..bb7f7360e4 100644 --- a/src/modules/mc_att_control_multiplatform/mc_att_control_params.h +++ b/src/modules/mc_att_control_multiplatform/mc_att_control_params.h @@ -56,7 +56,7 @@ #define PARAM_MP_YAWRATE_I_DEFAULT 0.0f #define PARAM_MP_YAWRATE_D_DEFAULT 0.0f #define PARAM_MP_YAW_FF_DEFAULT 0.5f -#define PARAM_MP_YAWRATE_MAX_DEFAULT 120.0f +#define PARAM_MP_YAWRATE_MAX_DEFAULT 60.0f #define PARAM_MP_ACRO_R_MAX_DEFAULT 35.0f #define PARAM_MP_ACRO_P_MAX_DEFAULT 35.0f #define PARAM_MP_ACRO_Y_MAX_DEFAULT 120.0f From 08c1123c4901186b4c8d5191ba56e50f593e278b Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 7 Aug 2015 14:40:18 +0200 Subject: [PATCH 5/5] Airframes meta scanner: Do not require particular file ending --- Tools/px4airframes/srcscanner.py | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/Tools/px4airframes/srcscanner.py b/Tools/px4airframes/srcscanner.py index c1f280668d..cb31906a30 100644 --- a/Tools/px4airframes/srcscanner.py +++ b/Tools/px4airframes/srcscanner.py @@ -16,10 +16,9 @@ class SourceScanner(object): extensions = tuple(parser.GetSupportedExtensions()) for dirname, dirnames, filenames in os.walk(srcdir): for filename in filenames: - if filename.endswith(extensions): - path = os.path.join(dirname, filename) - if not self.ScanFile(path, parser): - return False + path = os.path.join(dirname, filename) + if not self.ScanFile(path, parser): + return False return True def ScanFile(self, path, parser):