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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-14 09:37:35 +08:00
Matthias Grob
bda072512a
@fury1895 reported very valuable feedback from testing the acceleration feed-forward on VTOL: > MPC_JERK_MAX 4.5 (from 5 on it felt too aggressive) > MPC_JERK_AUTO 4 > some hovering, some transitions, and a mission. Everything good. > I'd say you feel the difference in position mode and you see it in > Auto modes. Great improvement!
37 lines
708 B
Bash
37 lines
708 B
Bash
#!/bin/sh
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#
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# VTOL default parameters.
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#
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# NOTE: Script variables are declared/initialized/unset in the rcS script.
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#
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set VEHICLE_TYPE vtol
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if [ $AUTOCNF = yes ]
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then
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# to minimize cpu usage on older boards limit inner loop to 400 Hz
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param set IMU_GYRO_RATEMAX 400
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param set MIS_TAKEOFF_ALT 20
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param set MIS_YAW_TMT 10
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param set MPC_ACC_HOR_MAX 2
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param set MPC_LAND_SPEED 0.7
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param set MPC_TKO_SPEED 1
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param set MPC_VEL_MANUAL 3
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param set MPC_XY_CRUISE 3
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param set MPC_XY_VEL_MAX 4
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param set MPC_Z_VEL_MAX_DN 1.5
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param set MPC_JERK_MAX 4.5
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param set NAV_ACC_RAD 3
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param set PWM_AUX_RATE 50
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param set PWM_RATE 400
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param set RTL_LAND_DELAY 0
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param set RTL_TYPE 1
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param set WV_EN 1
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fi
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