From d35c5f4a4e9515542d9527594f339cd97ab0c70b Mon Sep 17 00:00:00 2001 From: bresch Date: Thu, 3 Jul 2025 16:14:25 +0200 Subject: [PATCH] SIH-plane: tune angular rate controllers --- .../airframes/10041_sihsim_airplane | 19 +++++++++++++++++++ 1 file changed, 19 insertions(+) diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane b/ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane index 4f1ddf2635..1853699171 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane @@ -46,3 +46,22 @@ param set-default PWM_MAIN_FUNC3 203 param set-default PWM_MAIN_FUNC4 101 param set-default EKF2_GPS_DELAY 0 + +# Rate controllers +param set-default FW_RR_P 0.0500 +param set-default FW_RR_I 2.0000 +param set-default FW_RR_D 0.0000 +param set-default FW_RR_FF 0.0000 +param set-default FW_RR_IMAX 1.0000 + +param set-default FW_PR_P 0.0800 +param set-default FW_PR_I 2.5000 +param set-default FW_PR_D 0.0000 +param set-default FW_PR_FF 0.0000 +param set-default FW_PR_IMAX 1.0000 + +param set-default FW_YR_P 0.0500 +param set-default FW_YR_I 3.0000 +param set-default FW_YR_D 0.0000 +param set-default FW_YR_FF 0.0000 +param set-default FW_YR_IMAX 1.0000