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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-18 02:03:34 +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.
36 lines
707 B
Bash
36 lines
707 B
Bash
#!/bin/sh
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#
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# @name COEX Clover 4
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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 Oleg Kalachev <okalachev@gmail.com>
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#
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# @board px4_fmu-v2 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 quad_x
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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 MC_PITCHRATE_P 0.087
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param set MC_PITCHRATE_I 0.037
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param set MC_PITCHRATE_D 0.0044
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param set MC_PITCH_P 8.5
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param set MC_ROLLRATE_P 0.087
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param set MC_ROLLRATE_I 0.037
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param set MC_ROLLRATE_D 0.0044
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param set MC_ROLL_P 8.5
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param set MPC_XY_VEL_P_ACC 2.2
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param set MPC_XY_VEL_D_ACC 0.26
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param set MPC_XY_P 1.1
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param set MPC_Z_VEL_P_ACC 4.8
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param set MPC_Z_P 1.2
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fi
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