mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 11:53:33 +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.
144 lines
3.2 KiB
Bash
144 lines
3.2 KiB
Bash
#!/bin/sh
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#
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# @name UVify Draco-R
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#
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# @type Hexarotor x
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# @class Copter
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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 motor 5
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# @output MAIN6 motor 6
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#
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# @output AUX1 feed-through of RC AUX1 channel
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# @output AUX2 feed-through of RC AUX2 channel
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#
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# @maintainer Hyon Lim <lim@uvify.com>
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#
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# @board px4_fmu-v2 exclude
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# @board px4_fmu-v3 exclude
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# @board px4_fmu-v4pro exclude
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# @board px4_fmu-v5 exclude
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# @board px4_fmu-v5x exclude
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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.mc_defaults
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set MIXER hexa_x
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set PWM_OUT 12345678
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if [ $AUTOCNF = yes ]
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then
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###############################################
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# Attitude & rate gains
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###############################################
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# Roll
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param set MC_ROLL_P 6.50000
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param set MC_ROLLRATE_P 0.15000
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param set MC_ROLLRATE_I 0.05000
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param set MC_ROLLRATE_D 0.00130
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param set MC_ROLLRATE_MAX 800.00000
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# Pitch
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param set MC_PITCH_P 6.50000
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param set MC_PITCHRATE_P 0.15000
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param set MC_PITCHRATE_I 0.05000
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param set MC_PITCHRATE_D 0.00160
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param set MC_PITCHRATE_MAX 800.00000
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# Yaw
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param set MC_YAW_P 2.80000
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param set MC_YAWRATE_P 0.20000
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param set MC_YAWRATE_I 0.10000
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param set MC_YAWRATE_D 0.00000
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param set MC_YAW_FF 0.00000
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param set MC_YAWRATE_MAX 700.00000
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###############################################
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# Multirotor Position Gains
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###############################################
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param set MPC_ACC_HOR 8.0000
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param set MPC_THR_MIN 0.06000
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param set MPC_THR_HOVER 0.3000
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# altitude control gains
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param set MPC_Z_P 1.00000
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param set MPC_Z_VEL_P_ACC 4
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param set MPC_Z_VEL_I_ACC 0.4
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# position control gains
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param set MPC_XY_P 0.9500
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param set MPC_XY_VEL_P_ACC 1.8
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param set MPC_XY_VEL_I_ACC 0.4
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param set MPC_XY_VEL_D_ACC 0.2
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# etc gains
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param set MPC_TKO_RAMP_T 0.4000
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param set MPC_TKO_SPEED 1.5000
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param set MPC_VEL_MANUAL 5.0000
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# Disable RC filtering
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param set RC_FLT_CUTOFF 0.00000
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# Filter settings
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param set IMU_DGYRO_CUTOFF 90.00000
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param set IMU_GYRO_CUTOFF 100.00000
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# Thrust curve (avoids the need for TPA)
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param set THR_MDL_FAC 0.25
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# System
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param set PWM_MAX 1950
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param set PWM_MIN 1100
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param set PWM_MAIN_DIS5 980
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param set PWM_MAIN_DIS6 980
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# DSHOT
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param set DSHOT_CONFIG 600
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param set COM_ARM_MAG 0.2000
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param set MIS_TAKEOFF_ALT 1.1000
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#####################################
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# EKF
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#####################################
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# Height mode as GPS
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param set EKF2_HGT_MODE 1
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# Enable optical flow and GPS
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param set EKF2_AID_MASK 1
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param set EKF2_RNG_AID 1
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param set EKF2_MAG_TYPE 1
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param set EKF2_OF_QMIN 80.0000
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# default horizontal stablization sensors
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param set SENS_EN_PMW3901 1
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param set SENS_EN_PX4FLOW 1
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param set SENS_EN_LL40LS 2
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param set SENS_FLOW_ROT 2
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#
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param set CBRK_IO_SAFETY 22027
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param set COM_DISARM_LAND 3
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# PWM ONESHOT
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param set PWM_RATE 0
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# Battery
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param set BAT_SOURCE 0
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param set BAT_N_CELLS 4
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param set BAT_V_DIV 10.133
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# TELEM1 ttyS1
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param set MAV_0_CONFIG 101
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param set MAV_0_MODE 0 # onboard
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param set MAV_0_FORWARD 1
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param set SER_TEL1_BAUD 57600
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# TELEM2 ttyS2
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param set MAV_1_CONFIG 102
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param set MAV_1_MODE 2
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param set MAV_1_FORWARD 1
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param set MAV_1_RATE 800000
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param set SER_TEL2_BAUD 921600
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fi
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