From f4c8bd9be30370e92c67c8f150216bc7d5f3d56e Mon Sep 17 00:00:00 2001 From: Roman Date: Tue, 10 May 2016 15:33:57 +0200 Subject: [PATCH] updated gains of QAV 250 racer: - 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 --- ROMFS/px4fmu_common/init.d/4009_qav250 | 21 +++++++++++---------- 1 file changed, 11 insertions(+), 10 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/4009_qav250 b/ROMFS/px4fmu_common/init.d/4009_qav250 index a3ce6d0f6b..2d0e3ebe41 100644 --- a/ROMFS/px4fmu_common/init.d/4009_qav250 +++ b/ROMFS/px4fmu_common/init.d/4009_qav250 @@ -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