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| author | Lorenz Meier <lm@inf.ethz.ch> | 2015-03-15 12:00:48 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-03-15 12:00:48 +0100 |
| commit | cf56db21a3e2987569e03edca8ef41b6f6f272b5 (patch) | |
| tree | aaf97dce399b9f6d4cbd0ef992d432e993277433 /ROMFS | |
| parent | bab79ece49692e61c042ebc384f222a01fa4bb14 (diff) | |
| download | px4-firmware-cf56db21a3e2987569e03edca8ef41b6f6f272b5.tar.gz px4-firmware-cf56db21a3e2987569e03edca8ef41b6f6f272b5.tar.bz2 px4-firmware-cf56db21a3e2987569e03edca8ef41b6f6f272b5.zip | |
Better defaults for filter tuning params
Diffstat (limited to 'ROMFS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.fw_defaults | 7 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.mc_defaults | 2 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.vtol_defaults | 7 |
3 files changed, 16 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults index e6de64054..156711c26 100644 --- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults @@ -15,4 +15,11 @@ then param set FW_T_RLL2THR 15 param set FW_T_SRATE_P 0.01 param set FW_T_TIME_CONST 5 + + param set PE_VELNE_NOISE 0.3 + param set PE_VELD_NOISE 0.5 + param set PE_POSNE_NOISE 0.5 + param set PE_POSD_NOISE 0.5 + param set PE_GBIAS_PNOISE 0.000001 + param set PE_ABIAS_PNOISE 0.0002 fi diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults index 24d9650a0..1f34282ae 100644 --- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults @@ -40,6 +40,8 @@ then param set PE_VELD_NOISE 0.7 param set PE_POSNE_NOISE 0.5 param set PE_POSD_NOISE 1.0 + param set PE_GBIAS_PNOISE 0.000001 + param set PE_ABIAS_PNOISE 0.0001 param set NAV_ACC_RAD 2.0 param set RTL_RETURN_ALT 30.0 diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults index 6dc5a65db..844d540bf 100644 --- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults @@ -32,6 +32,13 @@ then param set FW_RR_I 0.00 param set FW_RR_IMAX 0.2 param set FW_RR_P 0.02 + + param set PE_VELNE_NOISE 0.5 + param set PE_VELD_NOISE 0.7 + param set PE_POSNE_NOISE 0.5 + param set PE_POSD_NOISE 1.0 + param set PE_GBIAS_PNOISE 0.000001 + param set PE_ABIAS_PNOISE 0.0001 fi set PWM_DISARMED 900 |