From de9942b2040a555afcbbc956526cb3736d1ef78c Mon Sep 17 00:00:00 2001 From: Azarakhsh Keipour Date: Thu, 26 Sep 2019 16:48:35 -0400 Subject: [PATCH] Tilt-Hex SITL: P gains for rpy changed to make the simulated flight smoother - Also enabled logging for the simulated tilt-hex drone --- ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt b/ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt index 28e374786f..fe6a68aaa6 100644 --- a/ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt +++ b/ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt @@ -18,14 +18,16 @@ sh /etc/init.d/rc.mc_defaults if [ $AUTOCNF = yes ] then - param set MC_PITCHRATE_P 0.2 - param set MC_ROLLRATE_P 0.2 - param set MC_YAWRATE_P 0.1 + param set MC_PITCHRATE_P 0.1 + param set MC_ROLLRATE_P 0.1 + param set MC_YAWRATE_P 0.08 param set MPC_Z_VEL_I 0.15 param set MPC_Z_VEL_P 0.3 param set RTL_DESCEND_ALT 5.0 param set RTL_LAND_DELAY 5 + + param set SDLOG_PROFILE 179 fi set MAV_TYPE 13