added default rate I gain for multicopters. added default gains for FireFly6 in mc mode (from Simon Wilks)

7 files changed, 33 insertions, 13 deletions

diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
index caa8e28fc..68428be6f 100644
--- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris
+++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
@@ -12,11 +12,11 @@ then
 	# TODO tune roll/pitch separately
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.13
-	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_I 0.05
 	param set MC_ROLLRATE_D 0.004
 	param set MC_PITCH_P 7.0
 	param set MC_PITCHRATE_P 0.13
-	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_I 0.05
 	param set MC_PITCHRATE_D 0.004
 	param set MC_YAW_P 2.5
 	param set MC_YAWRATE_P 0.25
diff --git a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
index 5e41d6957..8ab65be7b 100644
--- a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
+++ b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
@@ -12,11 +12,11 @@ then
 	# TODO tune roll/pitch separately
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.13
-	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_I 0.05
 	param set MC_ROLLRATE_D 0.004
 	param set MC_PITCH_P 7.0
 	param set MC_PITCHRATE_P 0.13
-	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_I 0.05
 	param set MC_PITCHRATE_D 0.004
 	param set MC_YAW_P 0.5
 	param set MC_YAWRATE_P 0.2
diff --git a/ROMFS/px4fmu_common/init.d/13002_firefly6 b/ROMFS/px4fmu_common/init.d/13002_firefly6
index 191c58da4..ed90dabf4 100644
--- a/ROMFS/px4fmu_common/init.d/13002_firefly6
+++ b/ROMFS/px4fmu_common/init.d/13002_firefly6
@@ -7,6 +7,26 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
+if [ $AUTOCNF == yes ]
+then
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.002
+	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_FF 0.0
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.12
+	param set MC_PITCHRATE_I 0.002
+	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_FF 0.0
+	param set MC_YAW_P 2.8
+	param set MC_YAW_FF 0.5
+	param set MC_YAWRATE_P 0.22
+	param set MC_YAWRATE_I 0.02
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_FF 0.0
+fi
+
 set MIXER firefly6
 set PWM_OUT 12345678
 
diff --git a/ROMFS/px4fmu_common/init.d/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/4010_dji_f330
index 8e5dc76b1..d07e926a7 100644
--- a/ROMFS/px4fmu_common/init.d/4010_dji_f330
+++ b/ROMFS/px4fmu_common/init.d/4010_dji_f330
@@ -11,11 +11,11 @@ if [ $AUTOCNF == yes ]
 then
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.1
-	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_I 0.05
 	param set MC_ROLLRATE_D 0.003
 	param set MC_PITCH_P 7.0
 	param set MC_PITCHRATE_P 0.1
-	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_I 0.05
 	param set MC_PITCHRATE_D 0.003
 	param set MC_YAW_P 2.8
 	param set MC_YAWRATE_P 0.2
diff --git a/ROMFS/px4fmu_common/init.d/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/4011_dji_f450
index ea35b3ba9..9b3954be6 100644
--- a/ROMFS/px4fmu_common/init.d/4011_dji_f450
+++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450
@@ -12,11 +12,11 @@ then
 	# TODO REVIEW
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.1
-	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_I 0.05
 	param set MC_ROLLRATE_D 0.003
 	param set MC_PITCH_P 7.0
 	param set MC_PITCHRATE_P 0.1
-	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_I 0.05
 	param set MC_PITCHRATE_D 0.003
 	param set MC_YAW_P 2.8
 	param set MC_YAWRATE_P 0.2
diff --git a/ROMFS/px4fmu_common/init.d/4012_quad_x_can b/ROMFS/px4fmu_common/init.d/4012_quad_x_can
index b1db1dd9a..05b435513 100644
--- a/ROMFS/px4fmu_common/init.d/4012_quad_x_can
+++ b/ROMFS/px4fmu_common/init.d/4012_quad_x_can
@@ -12,11 +12,11 @@ then
 	# TODO REVIEW
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.1
-	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_I 0.05
 	param set MC_ROLLRATE_D 0.003
 	param set MC_PITCH_P 7.0
 	param set MC_PITCHRATE_P 0.1
-	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_I 0.05
 	param set MC_PITCHRATE_D 0.003
 	param set MC_YAW_P 2.8
 	param set MC_YAWRATE_P 0.2
diff --git a/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
index a1de19d5d..aec0c62f8 100644
--- a/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
+++ b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
@@ -13,15 +13,15 @@ if [ $AUTOCNF == yes ]
 then
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.1
-	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_I 0.05
 	param set MC_ROLLRATE_D 0.003
 	param set MC_PITCH_P 7.0
 	param set MC_PITCHRATE_P 0.1
-	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_I 0.05
 	param set MC_PITCHRATE_D 0.003
 	param set MC_YAW_P 2.8
 	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.0
+	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
 fi