From fdcb0f06d6faca68bc08cbce2eb1eb88d10852e1 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Tue, 9 Jul 2019 14:06:28 +0200 Subject: [PATCH] Babyshark VTOL: updated config file (new smooth flight task, detuned position control, improved land detector, included autopilot rotation) Signed-off-by: Silvan Fuhrer --- ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark index 4f9d05e4ea..76eb9c922f 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark +++ b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark @@ -72,8 +72,11 @@ then param set MPC_ACC_HOR_MAX 2 param set MPC_ACC_UP_MAX 3 param set MPC_JERK_AUTO 8 + param set MPC_JERK_AUTO 15 + param set MPC_LAND_SPEED 1 param set MPC_MAN_TILT_MAX 25 param set MPC_MAN_Y_MAX 40 + param set MPC_POS_MODE 3 param set MPC_SPOOLUP_TIME 2 param set MPC_THR_HOVER 0.45 param set MPC_TILTMAX_AIR 25 @@ -81,7 +84,7 @@ then param set MPC_TKO_SPEED 1 param set MPC_VEL_MANUAL 3 param set MPC_XY_CRUISE 3 - param set MPC_XY_VEL_MAX 4 + param set MPC_XY_VEL_MAX 3.5 param set MPC_YAWRAUTO_MAX 40 param set MPC_Z_VEL_MAX_DN 1.5 param set MPC_Z_VEL_MAX_UP 2 @@ -92,6 +95,7 @@ then param set PWM_MAIN_MIN3 1120 param set PWM_MIN 950 + param set SENS_BOARD_ROT 4 param set SYS_FORCE_F7DC 2 param set VT_ARSP_BLEND 10