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ce9bb0dc6b
It currently defaults to 1g for multirotors, which works in most cases. However, during extended high-acceleration flight (e.g. in Stabilized mode), the limited dynamic model can upset the EKF, causing repeated resets due to data inconsistencies. Recovery is sometimes quick but can also be too slow to maintain position after high acceleration flight. This issue was observed on an 850mm vehicle, not a racer.
25 lines
496 B
Bash
25 lines
496 B
Bash
#!/bin/sh
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#
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# Multicopter 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 mc
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# MAV_TYPE_QUADROTOR 2
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param set-default MAV_TYPE 2
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if param compare IMU_GYRO_RATEMAX 400
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then
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param set-default IMU_GYRO_RATEMAX 800
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fi
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param set-default NAV_ACC_RAD 2
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param set-default RTL_RETURN_ALT 30
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param set-default RTL_DESCEND_ALT 10
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# lower RNG_FOG since MC are expected to fly closer over obstacles
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param set-default EKF2_RNG_FOG 1.0
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