From b08a429d89cc10cb5d9dc953a218527dc20c230c Mon Sep 17 00:00:00 2001 From: Kynos 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