mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-19 19:13:34 +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.
83 lines
1.6 KiB
Bash
83 lines
1.6 KiB
Bash
#!/bin/sh
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#
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# @name Crazyflie 2
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#
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# @type Quadrotor x
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# @class Copter
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#
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# @maintainer Dennis Shtatov <densht@gmail.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-v4 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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#
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sh /etc/init.d/rc.mc_defaults
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set MIXER quad_x_cw
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set PWM_OUT 1234
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if [ $AUTOCNF = yes ]
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then
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param set BAT_N_CELLS 1
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param set BAT_CAPACITY 240
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param set BAT_SOURCE 1
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param set CBRK_SUPPLY_CHK 894281
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param set CBRK_USB_CHK 197848
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param set COM_RC_IN_MODE 1
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param set EKF2_ABL_LIM 2
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param set EKF2_AID_MASK 3
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param set EKF2_HGT_MODE 2
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param set EKF2_MAG_TYPE 1
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param set EKF2_OF_DELAY 10
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param set IMU_GYRO_CUTOFF 100
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param set IMU_ACCEL_CUTOFF 30
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param set MC_AIRMODE 1
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param set IMU_DGYRO_CUTOFF 70
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param set MC_PITCHRATE_D 0.002
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param set MC_PITCHRATE_I 0.2
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param set MC_PITCHRATE_P 0.07
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param set MC_PITCH_P 6.5
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param set MC_ROLLRATE_D 0.002
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param set MC_ROLLRATE_I 0.2
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param set MC_ROLLRATE_P 0.07
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param set MC_ROLL_P 6.5
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param set MC_YAW_P 3
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param set MPC_THR_HOVER 0.7
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param set MPC_THR_MAX 1
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param set MPC_Z_P 1.5
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param set MPC_Z_VEL_P_ACC 8
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param set MPC_Z_VEL_I_ACC 6
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param set MPC_HOLD_MAX_XY 0.1
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param set MPC_MAX_FLOW_HGT 3
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param set NAV_RCL_ACT 3
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param set PWM_DISARMED 0
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param set PWM_MIN 0
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param set PWM_MAX 255
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# Run the motors at 328.125 kHz (recommended)
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param set PWM_RATE 3921
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param set SDLOG_PROFILE 1
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param set SENS_FLOW_MINRNG 0.05
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fi
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set PWM_DISARMED none
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set PWM_MAX none
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set PWM_MIN none
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syslink start
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mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
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