From da37f63bbd472cc006b530ed13e647085b92bd60 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sat, 10 Oct 2020 14:17:57 -0400 Subject: [PATCH] ROMFS: posix adjust standard vtol (1040) tuning --- .../px4fmu_common/init.d-posix/airframes/1040_standard_vtol | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol index 0de4a44fac..3befbc2868 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol @@ -14,6 +14,9 @@ then param set FW_AIRSPD_TRIM 16 param set FW_L1_PERIOD 12 + param set FW_RR_FF 0.1 + param set FW_RR_P 0.01 + param set MC_ROLLRATE_P 0.3 param set MIS_LTRMIN_ALT 10 @@ -22,7 +25,7 @@ then param set MPC_ACC_HOR_MAX 2 param set MPC_ACC_HOR_MAX 2 - param set MPC_THR_MIN 0.1 + param set MPC_THR_HOVER 0.58 param set MPC_TKO_SPEED 1 param set MPC_XY_P 0.8 param set MPC_XY_VEL_P_ACC 3