Add generic quad airframes for 250, 450, and 650 size quadrotors and set PWM_OUT in rc.mc_defaults. #13074
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From a user perspective I like this idea in theory, but I think the question is if the tuning is actually going to be valid across all the other variables (battery size, motors, ESCs, props, etc) for the same frame. With that in mind maybe some vaguely defined generic small, medium, large sizes as a rough starting point, but not get carried away? |
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I've reduced the number of generic quad airframes previously added down to 250, 450, and 650 and moved the contents of Let me know if you have any other suggestions I could attend to with this PR. Thanks! |
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| if [ $AUTOCNF = yes ] | ||
| then | ||
| param set MC_ROLL_P 6.5 | ||
| param set MC_ROLLRATE_P 0.05 |
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That is exremely low. Did you test this?
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| param set MC_PITCH_P 6.5 | ||
| param set MC_PITCHRATE_P 0.05 | ||
| param set MC_PITCHRATE_I 0.05 |
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Please keep all I gains default (only where set higher than the default (0.2), you can keep it)
| if [ $AUTOCNF = yes ] | ||
| then | ||
| param set MC_ROLL_P 7.0 | ||
| param set MC_ROLLRATE_P 0.15 |
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These are all default, can you drop them?
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I think @dagar 's original intent here was basically a placeholder. I don't have a 450 airframe to know if the default values are appropriate. Do we know of any other good candidate 450 sized airframes aside from the flame wheel that might need different parameter values?
For now, I'll add a commit that drops these values and also drops the default values from 4011_dji_f450. Thanks @bkueng !
| # enable high-rate logging profile (helps with tuning) | ||
| param set SDLOG_PROFILE 19 | ||
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| # use thrust curve factor (instead of TPA) |
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| # use thrust curve factor (instead of TPA) | |
| # use thrust curve factor |
| @@ -1,32 +1,32 @@ | |||
| #!/bin/sh | |||
| # | |||
| # @name Generic 250 Racer | |||
| # @name Generic Quadcopter (250mm) | |||
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This is specifically for racers, can you keep it in the name?
Move set PWM_OUT 1234 to rc.mc_defaults for multicopter airframe files that call that script. Move contents of 4050_generic_250 to 4250_generic_quad_250 and delete 4050_generic_250.
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| param set MC_YAWRATE_P 0.3 | ||
| param set MC_YAWRATE_I 0.1 | ||
| param set MC_YAWRATE_D 0 | ||
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For explanation of these deletions, all of these are all default parameter values.
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Closing this; it can be revisited in the future. Thanks for your reviews! |
Describe problem solved by the proposed pull request
This PR adds a range of generic quadrotor airframes to advance PR #9849.
Additional context
See PR #9849 and PR #12506.
@dagar , would you let me know if you'd like to see anything different in this PR or if it is no longer of interest? Thanks!