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synced 2026-10-26 03:03:34 +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.
47 lines
885 B
Bash
47 lines
885 B
Bash
#!/bin/sh
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#
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# @name Quadrotor + Tailsitter
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#
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# @type VTOL Quad Tailsitter
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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 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 FW_L1_PERIOD 12
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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 0.15
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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 1
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param set MPC_Z_VEL_MAX_DN 1.5
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param set MPC_Z_VEL_P_ACC 16
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param set NAV_ACC_RAD 5
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param set NAV_LOITER_RAD 80
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param set VT_F_TRANS_DUR 1.5
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param set VT_F_TRANS_THR 0.7
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param set VT_TYPE 0
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fi
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set MAV_TYPE 20
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set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
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set MIXER custom
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