fly316/PX4-Autopilot
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updated gains of QAV 250 racer:

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- tested in acro mode with good orientation lock and good response
- tested in stabilize mode with good attitude tracking
- needs more testing and maybe small adjustments
This commit is contained in:
Roman 2016-05-10 15:33:57 +02:00 committed by Lorenz Meier
parent 7d733c5ccd
commit f4c8bd9be3
1 changed files with 11 additions and 10 deletions
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21
ROMFS/px4fmu_common/init.d/4009_qav250
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@ -15,18 +15,19 @@ sh /etc/init.d/4001_quad_x
if [ $AUTOCNF == yes ]
then
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.05
param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.002
param set MC_ROLL_P 6.0
param set MC_ROLLRATE_P 0.14
param set MC_ROLLRATE_I 0.23
param set MC_ROLLRATE_D 0.0025
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.08
param set MC_PITCHRATE_I 0.1
param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_PITCHRATE_P 0.235
param set MC_PITCHRATE_I 0.17
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 4
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.5
param set PWM_MIN 1075
param set MPC_THR_MIN 0.06
param set MPC_MANTHR_MIN 0.06