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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-20 01:03:34 +08:00
Matthias Grob
6317d36ec9
Because the parameter does not make sense from a control theory perspective. Either you have a gain with the unit 1/s or an inverse gain or time constant with the unit s. But the time constant parameter was neither bound to any exact unit nor did it apply instead of a gain. Rather it adjusted multiple gains from rate and attitude control according to an arbitrary scale. This can only by accident lead to good tuning.
54 lines
1013 B
Plaintext
54 lines
1013 B
Plaintext
#!nsh
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#
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# @name ZMR250 Racer
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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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# @board px4fmu-v2 exclude
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#
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# @maintainer Anton Matosov <anton.matosov@gmail.com>
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#
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sh /etc/init.d/rc.mc_defaults
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set MIXER zmr250
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set PWM_OUT 1234
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if [ $AUTOCNF == yes ]
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then
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param set MC_ROLL_P 2.2
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param set MC_ROLLRATE_P 0.06
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param set MC_ROLLRATE_I 0.2
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param set MC_ROLLRATE_D 0.0017
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param set MC_PITCH_P 2.2
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param set MC_PITCHRATE_P 0.06
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param set MC_PITCHRATE_I 0.2
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param set MC_PITCHRATE_D 0.0017
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param set MC_YAW_P 1.0
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param set MC_YAWRATE_P 0.15
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param set MC_YAWRATE_I 0.2
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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_ACRO_R_MAX 1000.0
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param set MC_ACRO_P_MAX 1000.0
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param set MC_ACRO_Y_MAX 1000.0
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param set MC_TPA_BREAK_P 0.5
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param set MC_TPA_BREAK_D 0.7
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param set MC_TPA_RATE_P 0.5
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param set MC_TPA_RATE_D 0.5
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param set PWM_MIN 1075
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param set PWM_RATE 400
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param set PWM_DISARMED 900
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param set FAILSAFE 100
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# param set NAV_RCL_ACT 6 # Lockdown
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param set CBRK_IO_SAFETY 22027
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fi
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