mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-21 07:03:33 +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.
142 lines
3.2 KiB
Bash
142 lines
3.2 KiB
Bash
#!/bin/sh
|
|
#
|
|
# @name PX4 Vision DevKit Platform
|
|
#
|
|
# @type Quadrotor x
|
|
# @class Copter
|
|
#
|
|
# @output MAIN1 motor 1
|
|
# @output MAIN2 motor 2
|
|
# @output MAIN3 motor 3
|
|
# @output MAIN4 motor 4
|
|
#
|
|
# @board px4_fmu-v2 exclude
|
|
# @board bitcraze_crazyflie exclude
|
|
#
|
|
|
|
sh /etc/init.d/rc.mc_defaults
|
|
|
|
set MIXER quad_x
|
|
set PWM_OUT 1234
|
|
|
|
if [ $AUTOCNF = yes ]
|
|
then
|
|
# System parameters
|
|
# use FMU motor outputs for less delay in the rate control loop
|
|
param set SYS_USE_IO 0
|
|
|
|
# Commander Parameters
|
|
param set COM_OBS_AVOID 1
|
|
param set COM_DISARM_LAND 0.5
|
|
|
|
# EKF2 parameters
|
|
param set EKF2_AID_MASK 35
|
|
param set EKF2_IMU_POS_X 0.02
|
|
param set EKF2_GPS_POS_X 0.055
|
|
param set EKF2_GPS_POS_Z -0.15
|
|
param set EKF2_HGT_MODE 0
|
|
param set EKF2_MIN_RNG 0.03
|
|
param set EKF2_OF_POS_X 0.055
|
|
param set EKF2_OF_POS_Y 0.02
|
|
param set EKF2_OF_POS_Z 0.065
|
|
param set EKF2_REQ_HDRIFT 0.3
|
|
param set EKF2_REQ_SACC 1
|
|
param set EKF2_REQ_VDRIFT 0.3
|
|
param set EKF2_RNG_AID 1
|
|
param set EKF2_RNG_A_HMAX 8
|
|
param set EKF2_RNG_A_VMAX 2
|
|
param set EKF2_RNG_POS_X 0.055
|
|
param set EKF2_RNG_POS_Y -0.01
|
|
param set EKF2_RNG_POS_Z 0.065
|
|
param set EKF2_PCOEF_XP -0.25
|
|
param set EKF2_PCOEF_YN -0.55
|
|
param set EKF2_PCOEF_YP -0.55
|
|
|
|
# MAVLink parameters
|
|
param set MAV_0_CONFIG 101
|
|
param set MAV_1_CONFIG 102
|
|
param set MAV_1_RATE 80000
|
|
param set MAV_1_MODE 9
|
|
param set SER_TEL1_BAUD 921600
|
|
|
|
# Vehicle attitude PID tuning
|
|
param set MC_ACRO_EXPO 0
|
|
param set MC_ACRO_EXPO_Y 0
|
|
param set MC_ACRO_P_MAX 200
|
|
param set MC_ACRO_R_MAX 200
|
|
param set MC_ACRO_SUPEXPO 0
|
|
param set MC_ACRO_SUPEXPOY 0
|
|
param set MC_ACRO_Y_MAX 150
|
|
param set IMU_DGYRO_CUTOFF 30
|
|
param set MC_PITCHRATE_D 0.0015
|
|
param set MC_PITCHRATE_I 0.2
|
|
param set MC_PITCHRATE_K 1
|
|
param set MC_PITCHRATE_P 0.15
|
|
param set MC_ROLLRATE_D 0.0015
|
|
param set MC_ROLLRATE_I 0.2
|
|
param set MC_ROLLRATE_K 1
|
|
param set MC_ROLLRATE_P 0.15
|
|
param set MC_YAWRATE_P 0.3
|
|
|
|
# Position Control Tuning
|
|
param set CP_DIST 6.0
|
|
param set MPC_ACC_DOWN_MAX 5
|
|
param set MPC_ACC_HOR_MAX 10
|
|
param set MPC_ACC_UP_MAX 4
|
|
param set MPC_MANTHR_MIN 0
|
|
param set MPC_MAN_Y_MAX 120
|
|
param set MPC_TILTMAX_AIR 45
|
|
param set MPC_THR_HOVER 0.3
|
|
param set MPC_THR_MIN 0.12
|
|
param set MPC_TKO_SPEED 1
|
|
param set MPC_VEL_MANUAL 5
|
|
param set MPC_XY_CRUISE 5
|
|
param set MPC_XY_VEL_MAX 5
|
|
param set MPC_XY_VEL_P_ACC 1.58
|
|
param set MPC_XY_TRAJ_P 0.3
|
|
param set MPC_Z_TRAJ_P 0.3
|
|
param set MPC_Z_VEL_P_ACC 5
|
|
param set MPC_Z_VEL_I_ACC 3
|
|
param set MPC_LAND_ALT1 3
|
|
param set MPC_LAND_ALT2 1
|
|
|
|
# Navigator Parameters
|
|
param set NAV_ACC_RAD 2
|
|
|
|
# PWM and RC Parameters
|
|
param set PWM_MAX 1950
|
|
param set PWM_MIN 1075
|
|
|
|
# use oneshot motor output protocol
|
|
param set PWM_RATE 0
|
|
param set RC_FLT_CUTOFF 0
|
|
|
|
# RTL Parameters
|
|
param set RTL_DESCEND_ALT 5
|
|
param set RTL_LAND_DELAY 0
|
|
param set RTL_RETURN_ALT 5
|
|
param set RTL_CONE_ANG 45
|
|
|
|
# Logging Parameters
|
|
param set SDLOG_PROFILE 131
|
|
|
|
# Sensors Parameters
|
|
param set SENS_BOARD_ROT 0
|
|
param set SENS_CM8JL65_CFG 104
|
|
param set SENS_FLOW_MAXHGT 25
|
|
param set SENS_FLOW_MINHGT 0.5
|
|
param set SENS_FLOW_ROT 0
|
|
param set IMU_GYRO_CUTOFF 100
|
|
param set SENS_EN_PMW3901 1
|
|
|
|
# Power Parameters
|
|
param set BAT_N_CELLS 4
|
|
param set BAT_A_PER_V 36.364
|
|
param set BAT_V_DIV 18.182
|
|
|
|
# Circuit breakers
|
|
param set CBRK_IO_SAFETY 22027
|
|
|
|
param set THR_MDL_FAC 0.3
|
|
fi
|