mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-20 05:53:34 +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.
84 lines
1.8 KiB
Bash
84 lines
1.8 KiB
Bash
#!/bin/sh
|
|
#
|
|
# @name Intel Aero Ready to Fly Drone
|
|
#
|
|
# @type Quadrotor x
|
|
# @class Copter
|
|
#
|
|
# @maintainer Beat Kueng <beat@px4.io>
|
|
#
|
|
# @board px4_fmu-v2 exclude
|
|
# @board px4_fmu-v3 exclude
|
|
# @board px4_fmu-v4 exclude
|
|
# @board px4_fmu-v4pro exclude
|
|
# @board px4_fmu-v5 exclude
|
|
# @board px4_fmu-v5x exclude
|
|
# @board bitcraze_crazyflie exclude
|
|
#
|
|
|
|
sh /etc/init.d/rc.mc_defaults
|
|
|
|
#
|
|
# Load default params for this platform
|
|
#
|
|
if [ $AUTOCNF = yes ]
|
|
then
|
|
# Set all params here, then disable autoconfig
|
|
param set EKF2_GPS_POS_X -0.0600
|
|
param set EKF2_GPS_POS_Z -0.1000
|
|
param set EKF2_MIN_OBS_DT 50
|
|
|
|
param set EKF2_BARO_GATE 10
|
|
param set EKF2_BARO_NOISE 5
|
|
param set EKF2_ACC_NOISE 0.7
|
|
|
|
param set LNDMC_Z_VEL_MAX 2.0000
|
|
|
|
param set MC_ROLL_P 8.0000
|
|
param set MC_ROLLRATE_P 0.1300
|
|
param set MC_ROLLRATE_I 0.07
|
|
param set MC_ROLLRATE_D 0.0012
|
|
param set MC_ROLLRATE_MAX 360
|
|
param set MC_PITCH_P 8.0000
|
|
param set MC_PITCHRATE_P 0.1300
|
|
param set MC_PITCHRATE_I 0.07
|
|
param set MC_PITCHRATE_D 0.0012
|
|
param set MC_PITCHRATE_MAX 360
|
|
param set MC_YAW_P 4
|
|
param set MC_YAWRATE_P 0.119999997317790985
|
|
param set MC_YAWRATE_I 0.050000000745058060
|
|
param set MC_YAWRATE_D 0
|
|
|
|
param set MPC_LAND_SPEED 0.7000
|
|
param set MPC_MANTHR_MIN 0.0400
|
|
param set MPC_THR_HOVER 0.5000
|
|
param set MPC_THR_MAX 0.9400
|
|
param set MPC_THR_MIN 0.1000
|
|
param set MPC_XY_CRUISE 8.0000
|
|
param set MPC_XY_P 1.5000
|
|
param set MPC_XY_VEL_P_ACC 3
|
|
param set MPC_Z_P 1.5000
|
|
param set MPC_Z_VEL_P_ACC 16
|
|
param set MPC_Z_VEL_I_ACC 3
|
|
param set MPC_Z_VEL_MAX_DN 4.0000
|
|
param set MPC_Z_VEL_MAX_UP 5.0000
|
|
|
|
# TELEM2 config
|
|
param set MAV_1_CONFIG 102
|
|
param set MAV_1_RATE 80000
|
|
param set MAV_1_FORWARD 1
|
|
param set SER_TEL2_BAUD 921600
|
|
fi
|
|
|
|
if param compare SYS_HITL 0
|
|
then
|
|
tap_esc start -d /dev/ttyS0 -n 4
|
|
usleep 300000
|
|
|
|
set OUTPUT_MODE tap_esc
|
|
fi
|
|
|
|
set MIXER quad_x
|
|
set USE_IO no
|
|
|