Commit 542dc9f6 authored by Roman Bapst's avatar Roman Bapst
Browse files

added default rate I gain for multicopters. added default gains for FireFly6...

added default rate I gain for multicopters. added default gains for FireFly6 in mc mode (from Simon Wilks)
parent b3ed0cf3
...@@ -12,11 +12,11 @@ then ...@@ -12,11 +12,11 @@ then
# TODO tune roll/pitch separately # TODO tune roll/pitch separately
param set MC_ROLL_P 7.0 param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.13 param set MC_ROLLRATE_P 0.13
param set MC_ROLLRATE_I 0.0 param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.004 param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 7.0 param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.13 param set MC_PITCHRATE_P 0.13
param set MC_PITCHRATE_I 0.0 param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.004 param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 2.5 param set MC_YAW_P 2.5
param set MC_YAWRATE_P 0.25 param set MC_YAWRATE_P 0.25
......
...@@ -12,11 +12,11 @@ then ...@@ -12,11 +12,11 @@ then
# TODO tune roll/pitch separately # TODO tune roll/pitch separately
param set MC_ROLL_P 7.0 param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.13 param set MC_ROLLRATE_P 0.13
param set MC_ROLLRATE_I 0.0 param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.004 param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 7.0 param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.13 param set MC_PITCHRATE_P 0.13
param set MC_PITCHRATE_I 0.0 param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.004 param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 0.5 param set MC_YAW_P 0.5
param set MC_YAWRATE_P 0.2 param set MC_YAWRATE_P 0.2
......
...@@ -7,6 +7,26 @@ ...@@ -7,6 +7,26 @@
sh /etc/init.d/rc.vtol_defaults sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF == yes ]
then
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.15
param set MC_ROLLRATE_I 0.002
param set MC_ROLLRATE_D 0.003
param set MC_ROLLRATE_FF 0.0
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.12
param set MC_PITCHRATE_I 0.002
param set MC_PITCHRATE_D 0.003
param set MC_PITCHRATE_FF 0.0
param set MC_YAW_P 2.8
param set MC_YAW_FF 0.5
param set MC_YAWRATE_P 0.22
param set MC_YAWRATE_I 0.02
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_FF 0.0
fi
set MIXER firefly6 set MIXER firefly6
set PWM_OUT 12345678 set PWM_OUT 12345678
......
...@@ -11,11 +11,11 @@ if [ $AUTOCNF == yes ] ...@@ -11,11 +11,11 @@ if [ $AUTOCNF == yes ]
then then
param set MC_ROLL_P 7.0 param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.1 param set MC_ROLLRATE_P 0.1
param set MC_ROLLRATE_I 0.0 param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.003 param set MC_ROLLRATE_D 0.003
param set MC_PITCH_P 7.0 param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.1 param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.0 param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.003 param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 2.8 param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2 param set MC_YAWRATE_P 0.2
......
...@@ -12,11 +12,11 @@ then ...@@ -12,11 +12,11 @@ then
# TODO REVIEW # TODO REVIEW
param set MC_ROLL_P 7.0 param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.1 param set MC_ROLLRATE_P 0.1
param set MC_ROLLRATE_I 0.0 param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.003 param set MC_ROLLRATE_D 0.003
param set MC_PITCH_P 7.0 param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.1 param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.0 param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.003 param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 2.8 param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2 param set MC_YAWRATE_P 0.2
......
...@@ -12,11 +12,11 @@ then ...@@ -12,11 +12,11 @@ then
# TODO REVIEW # TODO REVIEW
param set MC_ROLL_P 7.0 param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.1 param set MC_ROLLRATE_P 0.1
param set MC_ROLLRATE_I 0.0 param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.003 param set MC_ROLLRATE_D 0.003
param set MC_PITCH_P 7.0 param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.1 param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.0 param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.003 param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 2.8 param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2 param set MC_YAWRATE_P 0.2
......
...@@ -13,15 +13,15 @@ if [ $AUTOCNF == yes ] ...@@ -13,15 +13,15 @@ if [ $AUTOCNF == yes ]
then then
param set MC_ROLL_P 7.0 param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.1 param set MC_ROLLRATE_P 0.1
param set MC_ROLLRATE_I 0.0 param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.003 param set MC_ROLLRATE_D 0.003
param set MC_PITCH_P 7.0 param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.1 param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.0 param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.003 param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 2.8 param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2 param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0 param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0 param set MC_YAWRATE_D 0.0
fi fi
......
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