From b08a429d89cc10cb5d9dc953a218527dc20c230c Mon Sep 17 00:00:00 2001
From: Kynos <mail01@delago.net>
Date: Wed, 28 May 2014 14:28:41 +0200
Subject: Updated AR.Drone parameters

Flight tested May 7th, 2014.
---
 ROMFS/px4fmu_common/init.d/4008_ardrone | 25 +++++++++++++------------
 1 file changed, 13 insertions(+), 12 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/4008_ardrone b/ROMFS/px4fmu_common/init.d/4008_ardrone
index 14786f210..e6007db0e 100644
--- a/ROMFS/px4fmu_common/init.d/4008_ardrone
+++ b/ROMFS/px4fmu_common/init.d/4008_ardrone
@@ -14,19 +14,20 @@ sh /etc/init.d/rc.mc_defaults
 if [ $DO_AUTOCONFIG == yes ]
 then
     # Set all params here, then disable autoconfig
-    param set MC_ROLL_P 5.0
-    param set MC_ROLLRATE_P 0.13
-    param set MC_ROLLRATE_I 0.0
-    param set MC_ROLLRATE_D 0.0
-    param set MC_PITCH_P 5.0
-    param set MC_PITCHRATE_P 0.13
-    param set MC_PITCHRATE_I 0.0
-    param set MC_PITCHRATE_D 0.0
-    param set MC_YAW_P 1.0
-    param set MC_YAWRATE_P 0.15
-    param set MC_YAWRATE_I 0.0
+    param set MC_ROLL_P 6.0
+    param set MC_ROLLRATE_P 0.14
+    param set MC_ROLLRATE_I 0.1
+    param set MC_ROLLRATE_D 0.002
+    param set MC_PITCH_P 6.0
+    param set MC_PITCHRATE_P 0.14
+    param set MC_PITCHRATE_I 0.1
+    param set MC_PITCHRATE_D 0.002
+    param set MC_YAW_P 2.0
+    param set MC_YAWRATE_P 0.2
+    param set MC_YAWRATE_I 0.2
     param set MC_YAWRATE_D 0.0
-    param set MC_YAW_FF 0.15
+    param set MC_YAW_FF 0.8
+    
     param set BAT_V_SCALING 0.00838095238
 fi
 
-- 
cgit v1.2.3


From fe28069effe77dcac143c0194b982028438068f3 Mon Sep 17 00:00:00 2001
From: Kynos <mail01@delago.net>
Date: Wed, 28 May 2014 17:26:41 +0200
Subject: Increase UART1 & UART5 RX&Tx buffer sizes

To fix MAVLink message garbling problems.
---
 nuttx-configs/px4fmu-v1/nsh/defconfig | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/nuttx-configs/px4fmu-v1/nsh/defconfig b/nuttx-configs/px4fmu-v1/nsh/defconfig
index bc0c12067..f2c7d22bf 100644
--- a/nuttx-configs/px4fmu-v1/nsh/defconfig
+++ b/nuttx-configs/px4fmu-v1/nsh/defconfig
@@ -504,8 +504,8 @@ CONFIG_MTD_BYTE_WRITE=y
 #
 # USART1 Configuration
 #
-CONFIG_USART1_RXBUFSIZE=256
-CONFIG_USART1_TXBUFSIZE=128
+CONFIG_USART1_RXBUFSIZE=300
+CONFIG_USART1_TXBUFSIZE=300
 CONFIG_USART1_BAUD=57600
 CONFIG_USART1_BITS=8
 CONFIG_USART1_PARITY=0
@@ -528,8 +528,8 @@ CONFIG_USART2_OFLOWCONTROL=y
 #
 # UART5 Configuration
 #
-CONFIG_UART5_RXBUFSIZE=256
-CONFIG_UART5_TXBUFSIZE=128
+CONFIG_UART5_RXBUFSIZE=300
+CONFIG_UART5_TXBUFSIZE=300
 CONFIG_UART5_BAUD=57600
 CONFIG_UART5_BITS=8
 CONFIG_UART5_PARITY=0
-- 
cgit v1.2.3