From 9b46c1d8a90315419876fb62114b2dea1e1fa36c Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Wed, 3 Jul 2019 19:14:09 +0200 Subject: [PATCH] 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 --- .../init.d/airframes/13014_vtol_babyshark | 62 +++++++++++++++---- ROMFS/px4fmu_common/init.d/rc.vtol_defaults | 2 + 2 files changed, 51 insertions(+), 13 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark index 9159e857bcd6..4f9d05e4ead2 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark +++ b/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 diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults index 743867e90fa0..f8f957568243 100644 --- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults +++ b/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