mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-25 22:03:34 +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.
92 lines
2.0 KiB
Bash
92 lines
2.0 KiB
Bash
#!/bin/sh
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#
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# @name Sparkle Tech Ranger VTOL
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#
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# @type Standard VTOL
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# @class VTOL
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#
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# @maintainer Andreas Antener <andreas@uaventure.com>
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#
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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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sh /etc/init.d/rc.vtol_defaults
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if [ $AUTOCNF = yes ]
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then
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param set FW_AIRSPD_MAX 22
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param set FW_AIRSPD_MIN 14
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param set FW_AIRSPD_TRIM 16
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param set FW_L1_PERIOD 25
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param set FW_PR_P 0.060
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param set FW_P_RMAX_NEG 40
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param set FW_P_RMAX_POS 40
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param set FW_RR_FF 0.4
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param set FW_RR_P 0.04
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param set FW_R_RMAX 40
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param set MC_PITCHRATE_D 0.004
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param set MC_PITCHRATE_I 0
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param set MC_PITCHRATE_MAX 60
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param set MC_PITCHRATE_P 0.21
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param set MC_PITCH_P 4
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param set MC_ROLLRATE_D 0.004
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param set MC_ROLLRATE_I 0.002
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param set MC_ROLLRATE_MAX 60
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param set MC_ROLLRATE_P 0.24
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param set MC_ROLL_P 4
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param set MC_YAWRATE_I 0.02
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param set MC_YAWRATE_MAX 40
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param set MC_YAWRATE_P 0.18
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param set MIS_TAKEOFF_ALT 2.5
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param set MIS_YAW_TMT 20
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param set MPC_ACC_HOR_MAX 1
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param set MPC_HOLD_MAX_XY 0.5
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param set MPC_HOLD_MAX_Z 0.5
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param set MPC_LAND_SPEED 1
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param set MPC_MANTHR_MIN 0.05
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param set MPC_MAN_Y_MAX 120
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param set MPC_THR_MIN 0.07
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param set MPC_TILTMAX_AIR 35
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param set MPC_TILTMAX_LND 20
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param set MPC_TKO_SPEED 1
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param set MPC_XY_P 0.3
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param set MPC_XY_VEL_MAX 3
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param set MPC_XY_VEL_P_ACC 1
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param set MPC_Z_P 0.5
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param set MPC_Z_VEL_P_ACC 2
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param set MPC_YAWRAUTO_MAX 40
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param set NAV_ACC_RAD 3
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param set PWM_AUX_REV1 1
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param set PWM_AUX_REV2 1
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param set PWM_AUX_REV3 1
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param set PWM_AUX_REV4 1
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param set PWM_AUX_DIS5 950
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param set PWM_RATE 400
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param set VT_ARSP_TRANS 15
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param set VT_B_TRANS_DUR 4
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param set VT_F_TRANS_THR 0.6
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param set VT_IDLE_PWM_MC 1180
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param set VT_MOT_ID 1234
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param set VT_FW_MOT_OFFID 1234
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param set VT_TRANS_MIN_TM 5
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param set VT_TRANS_TIMEOUT 30
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param set VT_TYPE 2
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fi
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set MAV_TYPE 22
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set MIXER quad_x
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set MIXER_AUX vtol_AAERT
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set PWM_OUT 1234
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