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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-31 12:18:52 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-31 12:18:52 +0100 |
| commit | 9f88cbdc0b850f4136fd68a379663619fb42e150 (patch) | |
| tree | 514bfcc8a0d4df205764a4b298d5ab227b6388b3 /ROMFS/px4fmu_common/init.d/4011_dji_f450 | |
| parent | 103bece7266bbcbcd3f31aaf165ea6f902dec9f4 (diff) | |
| download | px4-firmware-9f88cbdc0b850f4136fd68a379663619fb42e150.tar.gz px4-firmware-9f88cbdc0b850f4136fd68a379663619fb42e150.tar.bz2 px4-firmware-9f88cbdc0b850f4136fd68a379663619fb42e150.zip | |
autostart scripts: default MPC parameters updated
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/4011_dji_f450')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/4011_dji_f450 | 18 |
1 files changed, 17 insertions, 1 deletions
diff --git a/ROMFS/px4fmu_common/init.d/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/4011_dji_f450 index cca635e66..8027b9d42 100644 --- a/ROMFS/px4fmu_common/init.d/4011_dji_f450 +++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450 @@ -23,7 +23,23 @@ then param set MC_YAWRATE_I 0.2 param set MC_YAWRATE_D 0.005 - # TODO add default MPC parameters + param set MPC_THR_MAX 1.0 + param set MPC_THR_MIN 0.1 + param set MPC_XY_P 1.0 + param set MPC_XY_VEL_P 0.1 + param set MPC_XY_VEL_I 0.02 + param set MPC_XY_VEL_D 0.01 + param set MPC_XY_VEL_MAX 5 + param set MPC_XY_FF 0.5 + param set MPC_Z_P 1.0 + param set MPC_Z_VEL_P 0.1 + param set MPC_Z_VEL_I 0.02 + param set MPC_Z_VEL_D 0.0 + param set MPC_Z_VEL_MAX 3 + param set MPC_Z_FF 0.5 + param set MPC_TILT_MAX 1.0 + param set MPC_LAND_SPEED 1.0 + param set MPC_LAND_TILT 0.3 fi set VEHICLE_TYPE mc |