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bebop 2 improved gains, disable rangefinder

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This commit is contained in:
Bart Slinger
2018-10-03 15:35:25 -04:00
committed by Daniel Agar
parent c762a12bfa
commit f913de3957
1 changed files with 18 additions and 13 deletions
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posix-configs/bebop/px4.config
+18 -13
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@@ -11,33 +11,38 @@ then
fi
param set SYS_AUTOSTART 4013
param set MAV_BROADCAST 1
param set MAV_TYPE 3
param set MAV_TYPE 2
param set MPC_XY_VEL_P 0.12
param set MPC_XY_P 1.3
param set MPC_XY_VEL_D 0.006
param set MPC_XY_VEL_I 0.05
param set MPC_XY_VEL_MAX 8
param set MPC_Z_VEL_P 0.3
param set MPC_Z_VEL_I 0.1
param set MPC_ACC_HOR_MAX 2
param set MPC_XY_VEL_MAX 2
param set MC_YAW_P 4.0
param set MC_YAWRATE_P 0.08
param set MC_YAW_P 3.0
param set MC_YAWRATE_P 0.05
param set MC_YAWRATE_I 3.0
param set MC_ROLLRATE_P 0.08
param set MC_ROLLRATE_D 0.001
param set MC_ROLLRATE_I 0.1
param set MC_ROLLRATE_P 0.07
param set MC_ROLLRATE_I 0.5
param set MC_ROLLRATE_D 0.0
param set MC_RR_INT_LIM 0.5
param set MC_PITCHRATE_P 0.08
param set MC_PITCHRATE_D 0.001
param set MC_PITCHRATE_I 0.1
param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.8
param set MC_PITCHRATE_D 0.0
param set MC_PR_INT_LIM 0.5
param set SYS_MC_EST_GROUP 2
df_ms5607_wrapper start
df_mpu6050_wrapper start -R 8
df_ak8963_wrapper start -R 32
df_bebop_rangefinder_wrapper start
# Rangefinder disabled for now. It was found to cause delays of more than 10ms
#df_bebop_rangefinder_wrapper start
gps start -d /dev/ttyPA1
bebop_flow start
sensors start
@@ -49,7 +54,7 @@ land_detector start multicopter
mc_pos_control start
mc_att_control start
sleep 1
mavlink start -x -u 14556 -r 1000000
mavlink start -x -u 14556 -r 20000
sleep 1
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
mavlink stream -u 14556 -s ATTITUDE -r 50