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wip: squashed patch

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This commit is contained in:
Thomas Stastny
2022-12-19 13:12:42 +01:00
parent 283aad01fd
commit ebe0a4095c
659 changed files with 23727 additions and 8530 deletions
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ROMFS/px4fmu_common/init.d/rc.vtol_defaults
+12 -6
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@@ -10,6 +10,8 @@ set VEHICLE_TYPE vtol
# MAV_TYPE_VTOL_FIXEDROTOR 22
param set-default MAV_TYPE 22
param set-default COM_POS_FS_EPH 50
param set-default MIS_TAKEOFF_ALT 20
param set-default MIS_YAW_TMT 10
@@ -21,16 +23,20 @@ param set-default HTE_VXY_THR 2.0
param set-default MIS_DIST_WPS 5000
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_TKO_SPEED 1
param set-default MPC_VEL_MANUAL 3
param set-default MPC_XY_CRUISE 3
param set-default MPC_VEL_MANUAL 5
param set-default MPC_XY_CRUISE 5
param set-default MPC_XY_ERR_MAX 5
param set-default MPC_XY_VEL_MAX 4
param set-default MPC_Z_VEL_MAX_DN 1.5
param set-default MPC_XY_VEL_MAX 8
param set-default MPC_JERK_MAX 4.5
param set-default MPC_YAW_MODE 4
param set-default NAV_ACC_RAD 3
# reduce aggressiveness around roll and yaw axis,
# as VTOLs usually have high intertia and lot af drag due to wings
param set-default MC_ROLL_P 5
param set-default MC_ROLLRATE_MAX 120
param set-default MC_YAW_P 2
param set-default MC_YAWRATE_MAX 120
param set-default MPC_MAN_Y_MAX 90
param set-default PWM_AUX_RATE 50
param set-default PWM_MAIN_RATE 400