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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.
33 lines
553 B
Bash
33 lines
553 B
Bash
#!/bin/sh
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#
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# @name Typhoon H480 SITL
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#
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# @type Hexarotor x
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#
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sh /etc/init.d/rc.mc_defaults
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if [ $AUTOCNF = yes ]
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then
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param set MC_PITCHRATE_P 0.1
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param set MC_PITCHRATE_I 0.05
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param set MC_PITCH_P 6.0
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param set MC_ROLLRATE_P 0.15
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param set MC_ROLLRATE_I 0.1
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param set MC_ROLL_P 6.0
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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 RTL_DESCEND_ALT 10
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param set RTL_LAND_DELAY 0
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param set TRIG_INTERFACE 3
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param set TRIG_MODE 4
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param set MNT_MODE_IN 0
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param set MAV_PROTO_VER 2
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fi
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set MAV_TYPE 13
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set MIXER hexa_x
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