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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-02-11 23:24:49 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-02-11 23:24:49 +0100 |
| commit | 16908f9aff0e7ad0f967613adf2be9a00c1c6cce (patch) | |
| tree | 978c791e7480375d6dd3b3aa5129fc659d9518b4 /ROMFS/px4fmu_common/init.d/rc.mc_defaults | |
| parent | 6f506874eb77312501596780829b158bc167f82b (diff) | |
| download | px4-firmware-16908f9aff0e7ad0f967613adf2be9a00c1c6cce.tar.gz px4-firmware-16908f9aff0e7ad0f967613adf2be9a00c1c6cce.tar.bz2 px4-firmware-16908f9aff0e7ad0f967613adf2be9a00c1c6cce.zip | |
autostart for multicopters: frame-specific default parameters reverted and cleaned up
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/rc.mc_defaults')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.mc_defaults | 24 |
1 files changed, 11 insertions, 13 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults index 52584677b..4db62607a 100644 --- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults @@ -4,22 +4,20 @@ set VEHICLE_TYPE mc if [ $DO_AUTOCONFIG == yes ] then - # - # Default parameters for MC - # param set MC_ROLL_P 7.0 - param set MC_ROLLRATE_P 0.12 + param set MC_ROLLRATE_P 0.1 param set MC_ROLLRATE_I 0.0 - param set MC_ROLLRATE_D 0.004 + param set MC_ROLLRATE_D 0.003 param set MC_PITCH_P 7.0 - param set MC_PITCHRATE_P 0.12 + param set MC_PITCHRATE_P 0.1 param set MC_PITCHRATE_I 0.0 - param set MC_PITCHRATE_D 0.004 - param set MC_YAW_P 2.0 - param set MC_YAWRATE_P 0.3 - param set MC_YAWRATE_I 0.2 - param set MC_YAWRATE_D 0.005 - + 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_D 0.0 + param set MC_YAW_FF 0.5 + param set MPC_THR_MAX 1.0 param set MPC_THR_MIN 0.1 param set MPC_XY_P 1.0 @@ -42,4 +40,4 @@ fi set PWM_RATE 400 set PWM_DISARMED 900 set PWM_MIN 1075 -set PWM_MAX 2000
\ No newline at end of file +set PWM_MAX 2000 |