From e443a3f3be42ed9ebfcf0ca588d7b0a4d359f582 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 2 Aug 2015 01:34:00 +0200 Subject: [PATCH] Harmonize FW default gains, increase TECS height rate default gain considerably --- ROMFS/px4fmu_common/init.d/rc.fw_defaults | 4 ---- src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c | 2 +- 2 files changed, 1 insertion(+), 5 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults index f1b92112a3..408707ec0b 100644 --- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults @@ -11,10 +11,6 @@ then param set NAV_RTL_ALT 100 param set NAV_RTL_LAND_T -1 param set NAV_ACC_RAD 50 - param set FW_T_HRATE_P 0.01 - param set FW_T_RLL2THR 15 - param set FW_T_SRATE_P 0.01 - param set FW_T_TIME_CONST 5 param set PE_VELNE_NOISE 0.3 param set PE_VELD_NOISE 0.35 diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index 78d66afe1e..98ce1fa1de 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -327,7 +327,7 @@ PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f); * * @group Fixed Wing TECS */ -PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 10.0f); +PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 15.0f); /** * Speed <--> Altitude priority