mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 06:53:34 +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.
73 lines
1.4 KiB
Bash
73 lines
1.4 KiB
Bash
#!/bin/sh
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#
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# @name HIL Standard VTOL QuadPlane
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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 Roman Bapst <roman@auterion.com>
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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_N_CELLS 3
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param set COM_RC_IN_MODE 1
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param set EKF2_AID_MASK 1
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param set EKF2_ANGERR_INIT 0.01
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param set EKF2_GBIAS_INIT 0.01
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param set EKF2_HGT_MODE 0
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param set EKF2_MAG_TYPE 1
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param set FW_AIRSPD_MAX 25
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param set FW_AIRSPD_MIN 14
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param set FW_AIRSPD_TRIM 16
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param set MC_PITCH_P 6
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param set MC_PITCHRATE_P 0.2
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param set MC_ROLL_P 6
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param set MC_ROLLRATE_P 0.3
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param set MIS_LTRMIN_ALT 10
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param set MIS_TAKEOFF_ALT 10
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param set MIS_YAW_TMT 10
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param set MPC_ACC_HOR_MAX 2
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param set MPC_ACC_HOR_MAX 2
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param set MPC_THR_MIN 0.1
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param set MPC_TKO_SPEED 1
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param set MPC_XY_P 0.8
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param set MPC_XY_VEL_D_ACC 0.1
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param set MPC_XY_VEL_I_ACC 4
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param set MPC_XY_VEL_P_ACC 3
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param set MPC_Z_VEL_P_ACC 12
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param set MPC_Z_VEL_I_ACC 3
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param set MPC_Z_VEL_MAX_DN 1.5
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param set NAV_ACC_RAD 5
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param set NAV_DLL_ACT 2
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param set NAV_LOITER_RAD 80
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param set RTL_DESCEND_ALT 10
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param set RTL_LAND_DELAY 0
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param set RTL_RETURN_ALT 30
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param set SDLOG_DIRS_MAX 7
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param set SYS_RESTART_TYPE 2
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param set VT_F_TRANS_THR 0.75
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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_TYPE 2
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fi
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param set SYS_HITL 1
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set MAV_TYPE 22
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set MIXER standard_vtol_hitl
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set PWM_OUT 1234
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