mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-28 01:03:35 +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.
61 lines
1.3 KiB
Bash
61 lines
1.3 KiB
Bash
#!/bin/sh
|
|
#
|
|
# @name HolyBro QAV250
|
|
#
|
|
# @url https://docs.px4.io/master/en/frames_multicopter/holybro_qav250_pixhawk4_mini.html
|
|
#
|
|
# @type Quadrotor x
|
|
# @class Copter
|
|
#
|
|
# @maintainer Beat Kueng <beat-kueng@gmx.net>
|
|
#
|
|
# @board px4_fmu-v2 exclude
|
|
# @board intel_aerofc-v1 exclude
|
|
# @board bitcraze_crazyflie exclude
|
|
#
|
|
|
|
sh /etc/init.d/rc.mc_defaults
|
|
|
|
set MIXER quad_x
|
|
set PWM_OUT 1234
|
|
|
|
if [ $AUTOCNF = yes ]
|
|
then
|
|
# The set does not include a battery, but most people will probably use 4S
|
|
param set BAT_N_CELLS 4
|
|
|
|
param set IMU_GYRO_CUTOFF 120
|
|
param set IMU_DGYRO_CUTOFF 45
|
|
|
|
param set MC_AIRMODE 1
|
|
param set MC_PITCHRATE_D 0.0012
|
|
param set MC_PITCHRATE_I 0.35
|
|
param set MC_PITCHRATE_MAX 1200
|
|
param set MC_PITCHRATE_P 0.082
|
|
param set MC_PITCH_P 8
|
|
param set MC_ROLLRATE_D 0.0012
|
|
param set MC_ROLLRATE_I 0.3
|
|
param set MC_ROLLRATE_MAX 1200
|
|
param set MC_ROLLRATE_P 0.076
|
|
param set MC_ROLL_P 8
|
|
param set MC_YAWRATE_I 0.3
|
|
param set MC_YAWRATE_MAX 600
|
|
param set MC_YAWRATE_P 0.25
|
|
param set MC_YAW_P 4
|
|
|
|
param set MPC_MANTHR_MIN 0
|
|
param set MPC_MAN_TILT_MAX 60
|
|
param set MPC_THR_CURVE 1
|
|
param set MPC_THR_HOVER 0.25
|
|
param set MPC_THR_MIN 0.05
|
|
param set MPC_Z_VEL_I_ACC 1.7
|
|
|
|
param set PWM_MAX 1950
|
|
param set PWM_MIN 1050
|
|
|
|
param set PWM_RATE 0
|
|
param set RC_FLT_CUTOFF 0
|
|
param set THR_MDL_FAC 0.3
|
|
fi
|
|
|