mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 11:03:34 +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.
162 lines
3.7 KiB
Bash
162 lines
3.7 KiB
Bash
#!/bin/sh
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#
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# @name Vertical Technologies DeltaQuad
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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 Sander Smeets <sander@droneslab.com>
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#
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# @output MAIN1 motor 1
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# @output MAIN2 motor 2
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# @output MAIN3 motor 3
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# @output MAIN4 motor 4
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# @output MAIN5 Right elevon
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# @output MAIN6 Left elevon
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# @output MAIN7 Pusher motor
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# @output MAIN8 Pusher reverse channel
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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 BAT_CAPACITY 23000
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param set BAT_N_CELLS 4
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param set BAT_R_INTERNAL 0.0025
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param set CBRK_AIRSPD_CHK 162128
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param set CBRK_IO_SAFETY 22027
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param set EKF2_GPS_POS_X -0.12
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param set EKF2_IMU_POS_X -0.12
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param set EKF2_TAU_VEL 0.5
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param set EKF2_GPS_P_GATE 10
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param set EKF2_GPS_V_GATE 10
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param set FW_ARSP_MODE 2
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param set FW_L1_PERIOD 25
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param set FW_PR_FF 0.7
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param set FW_PR_I 0.18
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param set FW_PR_P 0.15
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param set FW_P_TC 0.5
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param set FW_PSP_OFF 5
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param set FW_R_LIM 35
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param set FW_RR_FF 0.9
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param set FW_RR_I 0.08
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param set FW_RR_P 0.18
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param set FW_T_HRATE_FF 0.5
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param set FW_T_CLMB_MAX 3
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param set FW_T_SINK_MAX 3
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param set FW_T_SINK_MIN 1
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param set FW_T_VERT_ACC 6
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param set FW_T_HRATE_P 0.1
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param set FW_THR_CRUISE 0.70
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param set FW_THR_SLEW_MAX 1
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param set FW_MAN_P_MAX 30
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param set FW_P_LIM_MAX 15
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param set FW_P_LIM_MIN -25
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param set FW_P_RMAX_NEG 45
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param set FW_P_RMAX_POS 45
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param set FW_R_RMAX 50
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param set FW_THR_MIN 0.55
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param set FW_BAT_SCALE_EN 1
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param set FW_THR_ALT_SCL 2.7
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param set FW_T_RLL2THR 20
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param set LNDMC_ALT_MAX 9999
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param set LNDMC_XY_VEL_MAX 1
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param set LNDMC_Z_VEL_MAX 0.7
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param set MC_ROLL_P 6.5
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param set MC_ROLLRATE_P 0.16
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param set MC_ROLLRATE_I 0.01
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param set MC_ROLLRATE_D 0.003
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param set MC_ROLLRATE_FF 0
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param set MC_ROLLRATE_MAX 80
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param set MC_PITCH_P 6.5
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param set MC_PITCHRATE_P 0.15
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param set MC_PITCHRATE_I 0.05
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param set MC_PITCHRATE_D 0.003
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param set MC_PITCHRATE_FF 0
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param set MC_PITCHRATE_MAX 80
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param set MC_YAW_P 3.5
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param set MC_YAWRATE_P 0.2
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param set MC_YAWRATE_I 0.1
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param set MC_YAWRATE_D 0
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param set MC_YAWRATE_FF 0
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param set MC_YAWRATE_MAX 20
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param set MC_AIRMODE 1
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param set MIS_DIST_1WP 100
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param set MIS_DIST_WPS 100000
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param set MIS_TAKEOFF_ALT 15
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param set MPC_XY_P 0.8
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param set MPC_XY_VEL_P_ACC 2
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param set MPC_XY_VEL_MAX 5
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param set MPC_ACC_HOR_MAX 2
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param set MPC_LAND_SPEED 1.2
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param set MPC_TILTMAX_LND 35
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param set MPC_Z_VEL_MAX 1.5
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param set MPC_Z_VEL_MAX_UP 1.5
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param set MPC_Z_VEL_MAX_DN 1.5
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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_TKO_RAMP_T 0.8
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param set MPC_XY_CRUISE 5
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param set MPC_TILTMAX_AIR 25
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param set MPC_TILTMAX_LND 25
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param set MPC_YAWRAUTO_MAX 20
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param set NAV_DLL_ACT 0
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param set NAV_LOITER_RAD 100
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param set PWM_AUX_DISARMED 950
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param set PWM_MAIN_DIS5 1500
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param set PWM_MAIN_DIS6 1500
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param set PWM_MAIN_DIS7 900
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param set PWM_MAIN_DIS8 900
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param set PWM_RATE 400
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param set SENS_BOARD_ROT 18
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# TELEM2 config
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param set MAV_1_CONFIG 102
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param set MAV_1_RATE 5000
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param set MAV_1_FORWARD 1
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param set SER_TEL2_BAUD 57600
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param set VT_TYPE 2
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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_F_TRANS_THR 1
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param set VT_DWN_PITCH_MAX 8
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param set VT_FW_QC_P 55
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param set VT_FW_QC_R 55
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param set VT_TRANS_MIN_TM 15
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param set VT_B_TRANS_DUR 8
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param set VT_WV_LND_EN 1
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param set VT_WV_LTR_EN 1
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param set VT_FWD_THRUST_SC 4
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param set VT_F_TRANS_DUR 1
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param set VT_IDLE_PWM_MC 1025
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param set VT_B_REV_OUT 0.5
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param set VT_B_TRANS_THR 0.7
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param set VT_FW_PERM_STAB 1
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param set VT_TRANS_TIMEOUT 22
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param set VT_F_TRANS_RAMP 4
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param set COM_RC_OVERRIDE 0
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fi
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set MAV_TYPE 22
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set MIXER deltaquad
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set MIXER_AUX pass
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set PWM_OUT 1234
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set PWM_AUX_OUT 12345
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