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Silvan Fuhrer
6ebc88fed7
For most VTOLs the param defaults for the agressiveness of the MC attitude controller are too high, as VTOLs usually have high intertia and lot af drag due to wings and can thus not rotate as fast as MCs. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
45 lines
1.0 KiB
Bash
45 lines
1.0 KiB
Bash
#!/bin/sh
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#
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# VTOL default parameters.
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#
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# NOTE: Script variables are declared/initialized/unset in the rcS script.
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#
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set VEHICLE_TYPE vtol
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# MAV_TYPE_VTOL_FIXEDROTOR 22
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param set-default MAV_TYPE 22
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param set-default MIS_TAKEOFF_ALT 20
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param set-default MIS_YAW_TMT 10
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param set-default EKF2_ARSP_THR 10
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param set-default EKF2_FUSE_BETA 1
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param set-default HTE_VXY_THR 2.0
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param set-default MIS_DIST_WPS 5000
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param set-default MPC_ACC_HOR_MAX 2
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param set-default MPC_VEL_MANUAL 5
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param set-default MPC_XY_CRUISE 5
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param set-default MPC_XY_ERR_MAX 5
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param set-default MPC_XY_VEL_MAX 8
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param set-default MPC_JERK_MAX 4.5
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param set-default MPC_YAW_MODE 4
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# reduce aggressiveness around roll and yaw axis,
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# as VTOLs usually have high intertia and lot af drag due to wings
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param set-default MC_ROLL_P 5
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param set-default MC_ROLLRATE_MAX 120
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param set-default MC_YAW_P 2
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param set-default MC_YAWRATE_MAX 120
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param set-default MPC_MAN_Y_MAX 90
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param set-default PWM_AUX_RATE 50
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param set-default PWM_MAIN_RATE 400
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param set-default RTL_TYPE 1
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param set-default WV_EN 1
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