mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-19 06:23:33 +08:00
Matthias Grob
d92e66863a
Before #14212 the velocity control gains used in the multicopter position controller were defined as a scale between velocity error in one axis (or it's integral and derivative respectively) and the unit thrust vector. The problem with this is that the normalization of the unit thrust vector changes per vehicle or even vehicle configuration as 0 and 100% thrust get a different physical response. That's why the gains are now defined as scale between velocity error (integral/derivative) and the output acceleration in m/s².
128 lines
2.9 KiB
Bash
128 lines
2.9 KiB
Bash
#!/bin/sh
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#
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# @name UVify IFO
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#
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# @type Quadrotor x
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# @class Copter
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#
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# @output MAIN1 motor 1
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# @output MAIN2 motor 2
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# @output MAIN3 motor 3
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# @output MAIN4 motor 4
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#
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# @maintainer Hyon Lim <lim@uvify.com>
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#
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# @board px4_fmu-v2 exclude
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# @board px4_fmu-v3 exclude
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# @board px4_fmu-v4pro exclude
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# @board px4_fmu-v5 exclude
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# @board px4_fmu-v5x exclude
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# @board intel_aerofc-v1 exclude
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# @board bitcraze_crazyflie exclude
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#
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set VEHICLE_TYPE mc
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set MIXER quad_x
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set PWM_OUT 1234
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if [ $AUTOCNF = yes ]
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then
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# Attitude & rate gains
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#param set MC_ROLL_P 7.00000
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param set MC_ROLLRATE_P 0.15000
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#param set MC_ROLLRATE_I 0.90000
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param set MC_ROLLRATE_D 0.00130
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#param set MC_PITCH_P 7.00000
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param set MC_PITCHRATE_P 0.15000
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#param set MC_PITCHRATE_I 1.10000
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param set MC_PITCHRATE_D 0.00160
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param set MC_YAW_P 2.8
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param set MC_YAWRATE_P 0.2
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#param set MC_YAWRATE_I 0.15
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param set MC_YAWRATE_D 0.0
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param set MC_YAW_FF 0.5
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#param set MC_ROLL_TC 0.19
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#param set MC_PITCH_TC 0.16
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# Manual mode settings: Unleash Draco R's power :)
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#param set MPC_MAN_TILT_MAX 70.00000
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#param set MC_PITCHRATE_MAX 1600.00000
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#param set MC_ROLLRATE_MAX 1600.00000
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#param set MC_YAWRATE_MAX 700.00000
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param set MPC_MANTHR_MAX 0.90000
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param set MPC_MANTHR_MIN 0.08000
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#param set MPC_MAN_TILT_MAX 35.0000
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#param set MPC_TILTMAX_AIR 20.0000
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# Disable RC filtering
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param set RC_FLT_CUTOFF 0.00000
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# Filter settings
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param set IMU_DGYRO_CUTOFF 90.00000
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param set IMU_GYRO_CUTOFF 100.00000
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# Thrust curve (avoids the need for TPA)
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#param set THR_MDL_FAC 0.25
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# System
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param set PWM_MAX 1950
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param set PWM_MIN 1100
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param set PWM_RATE 0
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#param set SYS_FMU_TASK 1
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param set SENS_BOARD_ROT 10
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# EKF2
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param set EKF2_GND_EFF_DZ 6.0
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param set EKF2_HGT_MODE 1
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# Position control
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param set MPC_Z_P 1.00000
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param set MPC_Z_VEL_P_ACC 4
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param set MPC_Z_VEL_I_ACC 0.4
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param set MPC_THR_MIN 0.06000
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param set MPC_THR_HOVER 0.3000
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param set MIS_TAKEOFF_ALT 1.1000
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param set MPC_XY_P 1.7000
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param set MPC_XY_VEL_P_ACC 2.6
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param set MPC_XY_VEL_I_ACC 1.2
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param set MPC_XY_VEL_D_ACC 0.2
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param set MPC_TKO_RAMP_T 1.0000
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param set MPC_TKO_SPEED 1.1000
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param set MPC_VEL_MANUAL 3.0000
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param set BAT_SOURCE 0
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param set BAT_N_CELLS 4
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param set BAT_V_DIV 10.14
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param set BAT_A_PER_V 18.18
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#param set CBRK_IO_SAFETY 22027
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param set COM_ARM_EKF_AB 0.00500
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param set COM_DISARM_LAND 2
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# Filter settings
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param set IMU_GYRO_CUTOFF 90.00000
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param set IMU_DGYRO_CUTOFF 70.00000
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# Don't try to be intelligent on RC loss: just cut the motors
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param set NAV_RCL_ACT 6
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# enable to use high-rate logging for better rate tracking analysis
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# param set SDLOG_PROFILE 19
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# TELEM1 ttyS1 - Wifi module
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param set MAV_0_CONFIG 101
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param set MAV_0_RATE 0
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param set MAV_0_MODE 2 # onboard
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param set SER_TEL1_BAUD 921600
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# TELEM2 ttyS2 - Sub 1-Ghz
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param set MAV_1_CONFIG 102
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param set MAV_1_MODE 0 # normal
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param set SER_TEL2_BAUD 57600
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fi
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