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Improve tailsitter tuning master (#16078)

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* tailsitter SITL: improve hover tuning

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

* Add SITL testing for tailsitter VTOLs

This enables SITL testing for Tailsitter vehicles

Co-authored-by: Jaeyoung-Lim <jaeyoung@auterion.com>
This commit is contained in:
Silvan Fuhrer 2020-11-02 23:41:12 +01:00 committed by GitHub
parent fd90387270
commit d4d02f449f
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 9 additions and 5 deletions
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8
ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter
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@ -16,17 +16,13 @@ then
param set MC_ROLLRATE_P 0.3
param set MIS_LTRMIN_ALT 10
param set MIS_TAKEOFF_ALT 10
param set MIS_YAW_TMT 10
param set MPC_ACC_HOR_MAX 2
param set MPC_ACC_HOR_MAX 2
param set MPC_THR_MIN 0.1
param set MPC_TKO_SPEED 1
param set MPC_THR_MIN 0.3
param set MPC_XY_P 0.15
param set MPC_XY_VEL_D_ACC 0.1
param set MPC_XY_VEL_I_ACC 4
param set MPC_XY_VEL_P_ACC 1
param set MPC_Z_VEL_MAX_DN 1.5
param set MPC_Z_VEL_P_ACC 16
@ -38,6 +34,8 @@ then
param set VT_F_TRANS_THR 0.7
param set VT_TYPE 0
param set WV_EN 0
fi
set MAV_TYPE 20

6
test/mavsdk_tests/configs/sitl.json
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@ -15,6 +15,12 @@
"vehicle": "standard_vtol",
"test_filter": "[multicopter][vtol]",
"timeout_min": 10
},
{
"model": "tailsitter",
"vehicle": "tailsitter",
"test_filter": "[multicopter][vtol]",
"timeout_min": 10
}
]
}