Upated Babyshark VTOL config and vtol_defaults

Updated the babyshark default  parameters for improved flight performance,
as well as two MPC parameters in vtol_defaults for smoother hovering with VTOLS"

Signed-off-by: Silvan Fuhrer <[email protected]>

ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark

@@ -15,61 +15,97 @@
 # @output MAIN6 motor 2
 # @output MAIN7 motor 3
 # @output MAIN8 motor 4
+#
+# @board px4_fmu-v2 exclude
 
 sh /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
-	param set FW_AIRSPD_MAX   28
-	param set FW_AIRSPD_MIN   17
+
+	param set BAT_N_CELLS 6
+
+	param set COM_DISARM_LAND 3
+
+	param set FW_AIRSPD_MAX   30
+	param set FW_AIRSPD_MIN   19
 	param set FW_AIRSPD_TRIM  23
 	param set FW_CLMBOUT_DIFF 0.1
 	param set FW_L1_R_SLEW_MAX 40
 	param set FW_LND_EARLYCFG 1
-	param set FW_P_LIM_MAX 25
+	param set FW_MAN_P_MAX	30
+	param set FW_PR_I	0.1
+	param set FW_PSP_OFF	3
+	param set FW_P_LIM_MAX 18
 	param set FW_P_LIM_MIN -25
+	param set FW_RLL_TO_YAW_FF	0.1
+	param set FW_RR_I	0.1
+	param set FW_RR_P	0.08
 	param set FW_R_LIM 35
-	param set FW_THR_CRUISE 0.7
-	param set FW_THR_MIN 0.25
+	param set FW_R_RMAX	50
+	param set FW_THR_CRUISE 0.65
+	param set FW_THR_MIN 0.3
 	param set FW_THR_SLEW_MAX 0.6
 	param set FW_T_HRATE_FF 0
+	param set FW_T_SINK_MAX	15
+	param set FW_T_SINK_MIN	3
+	param set FW_T_THRO_CONST	6
+	param set FW_T_TIME_CONST	6
+	param set FW_YR_I	0.1
+	param set FW_YR_P	0.15
 
 	param set IMU_GYRO_CUTOFF 40
 
 	param set MC_DTERM_CUTOFF 15
+	param set MC_PITCHRATE_I	0.2
 	param set MC_PITCHRATE_MAX 60
+	param set MC_ROLLRATE_I	0.2
 	param set MC_ROLLRATE_MAX 60
 	param set MC_YAWRATE_I 0.15
 	param set MC_YAWRATE_MAX 40
 	param set MC_YAWRATE_P 0.3
 
+	param set MIS_TAKEOFF_ALT	20
+	param set MIS_YAW_TMT	10
+
+	param set MPC_ACC_DOWN_MAX	2
+	param set MPC_ACC_HOR_MAX	2
+	param set MPC_ACC_UP_MAX	3
+	param set MPC_JERK_AUTO	8
 	param set MPC_MAN_TILT_MAX 25
 	param set MPC_MAN_Y_MAX 40
 	param set MPC_SPOOLUP_TIME 2
 	param set MPC_THR_HOVER 0.45
 	param set MPC_TILTMAX_AIR 25
-	param set MPC_TKO_RAMP_T0.8
+	param set MPC_TKO_RAMP_T 3
+	param set MPC_TKO_SPEED	1
 	param set MPC_VEL_MANUAL 3
-	param set MPC_XY_VEL_MAX 3.5
-	param set MPC_Z_VEL_MAX_UP 2
+	param set MPC_XY_CRUISE 3
+	param set MPC_XY_VEL_MAX 4
 	param set MPC_YAWRAUTO_MAX 40
+	param set MPC_Z_VEL_MAX_DN 1.5
+	param set MPC_Z_VEL_MAX_UP 2
+
+	param set NAV_ACC_RAD	3
 
 	param set PWM_MAIN_DIS3 1000
 	param set PWM_MAIN_MIN3 1120
 	param set PWM_MIN 950
 
-	param set VT_ARSP_TRANS 19
-	param set VT_B_TRANS_DUR 9
+	param set SYS_FORCE_F7DC	2
+
+	param set VT_ARSP_BLEND 10
+	param set VT_ARSP_TRANS 21
+	param set VT_B_TRANS_DUR 12
 	param set VT_ELEV_MC_LOCK 0
 	param set VT_FWD_THRUST_SC 1.2
 	param set VT_FW_MOT_OFFID 5678
-	param set VT_F_TRANS_DUR 8
 	param set VT_F_TRANS_THR 0.85
-	param set VT_F_TR_OL_TM 7
+	param set VT_F_TR_OL_TM 8
 	param set VT_IDLE_PWM_MC 1000
 	param set VT_MOT_ID 5678
 	param set VT_PSHER_RMP_DT 2
-	param set VT_TRANS_MIN_TM 6
+	param set VT_TRANS_MIN_TM 4
 	param set VT_TYPE 2
 
 fi

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -15,6 +15,8 @@ then
 	param set MPC_ACC_HOR_MAX 2
 	param set MPC_LAND_SPEED 0.7
 	param set MPC_TKO_SPEED 1
+	param set MPC_VEL_MANUAL 3
+	param set MPC_XY_CRUISE 3
 	param set MPC_XY_VEL_MAX 4
 	param set MPC_Z_VEL_MAX_DN 1.5