Tools:TradHeli - update param files to lower gains for ACCZ_P, and Position Controller velocity request

7 years ago · 2d89bcaef6
4 changed files with 17 additions and 17 deletions
--- a/Tools/Frame_params/TradHeli_Copter36_Setup-MP.param
+++ b/Tools/Frame_params/TradHeli_Copter36_Setup-MP.param
@ -53,17 +53,17 @@ PSC_ACCZ_FF, 0.0
				@@ -53,17 +53,17 @@ PSC_ACCZ_FF, 0.0
 PSC_ACCZ_FILT, 20
 PSC_ACCZ_I, 1
 PSC_ACCZ_IMAX, 800
-PSC_ACCZ_P, 0.30
+PSC_ACCZ_P, 0.28
 PSC_ACC_XY_FILT, 2
 PSC_ANGLE_MAX, 0.0
 PSC_POSXY_P, 1
 PSC_POSZ_P, 1
-PSC_VELXY_D, 0.5
+PSC_VELXY_D, 0.0
 PSC_VELXY_D_FILT, 5
 PSC_VELXY_FILT, 5
-PSC_VELXY_I, 1
+PSC_VELXY_I, 0.5
 PSC_VELXY_IMAX, 1000
-PSC_VELXY_P, 2
+PSC_VELXY_P, 1
 PSC_VELZ_P, 5
 WPNAV_ACCEL, 220
 WPNAV_ACCEL_Z, 100
--- a/Tools/Frame_params/TradHeli_Copter36_Setup-QGC.params
+++ b/Tools/Frame_params/TradHeli_Copter36_Setup-QGC.params
@ -54,17 +54,17 @@
				@@ -54,17 +54,17 @@
 1	1	PSC_ACCZ_FILT	20	9
 1	1	PSC_ACCZ_I	1	9
 1	1	PSC_ACCZ_IMAX	800	9
-1	1	PSC_ACCZ_P	0.30	9
+1	1	PSC_ACCZ_P	0.28	9
 1	1	PSC_ACC_XY_FILT	2	9
 1	1	PSC_ANGLE_MAX	0	9
 1	1	PSC_POSXY_P	1	9
 1	1	PSC_POSZ_P	1	9
-1	1	PSC_VELXY_D	0.5	9
+1	1	PSC_VELXY_D	0.0	9
 1	1	PSC_VELXY_D_FILT	5	9
 1	1	PSC_VELXY_FILT	5	9
-1	1	PSC_VELXY_I	1	9
+1	1	PSC_VELXY_I	0.5	9
 1	1	PSC_VELXY_IMAX	1000	9
-1	1	PSC_VELXY_P	2	9
+1	1	PSC_VELXY_P	1	9
 1	1	PSC_VELZ_P	5	9
 1	1	WPNAV_ACCEL	220	9
 1	1	WPNAV_ACCEL_Z	100	9
--- a/Tools/Frame_params/TradHeli_Copter36_Upgrade-MP.param
+++ b/Tools/Frame_params/TradHeli_Copter36_Upgrade-MP.param
@ -16,17 +16,17 @@ PSC_ACCZ_FF, 0.0
				@@ -16,17 +16,17 @@ PSC_ACCZ_FF, 0.0
 PSC_ACCZ_FILT, 20
 PSC_ACCZ_I, 1
 PSC_ACCZ_IMAX, 800
-PSC_ACCZ_P, 0.30
+PSC_ACCZ_P, 0.28
 PSC_ACC_XY_FILT, 2
 PSC_ANGLE_MAX, 0.0
 PSC_POSXY_P, 1
 PSC_POSZ_P, 1
-PSC_VELXY_D, 0.5
+PSC_VELXY_D, 0.0
 PSC_VELXY_D_FILT, 5
 PSC_VELXY_FILT, 5
-PSC_VELXY_I, 1
+PSC_VELXY_I, 0.5
 PSC_VELXY_IMAX, 1000
-PSC_VELXY_P, 2
+PSC_VELXY_P, 1
 PSC_VELZ_P, 5
 WPNAV_ACCEL, 220
 WPNAV_ACCEL_Z, 100
--- a/Tools/Frame_params/TradHeli_Copter36_Upgrade-QGC.params
+++ b/Tools/Frame_params/TradHeli_Copter36_Upgrade-QGC.params
@ -17,17 +17,17 @@
				@@ -17,17 +17,17 @@
 1	1	PSC_ACCZ_FILT	20	9
 1	1	PSC_ACCZ_I	1	9
 1	1	PSC_ACCZ_IMAX	800	9
-1	1	PSC_ACCZ_P	0.3	9
+1	1	PSC_ACCZ_P	0.28	9
 1	1	PSC_ACC_XY_FILT	2	9
 1	1	PSC_ANGLE_MAX	0	9
 1	1	PSC_POSXY_P	1	9
-1	1	PSC_POSZ_P	1   9
-1	1	PSC_VELXY_D	0.5 9
+1	1	PSC_POSZ_P	1	9
+1	1	PSC_VELXY_D	0.0	9
 1	1	PSC_VELXY_D_FILT	5	9
 1	1	PSC_VELXY_FILT	5	9
-1	1	PSC_VELXY_I	1	9
+1	1	PSC_VELXY_I	0.5	9
 1	1	PSC_VELXY_IMAX	1000	9
-1	1	PSC_VELXY_P	2	9
+1	1	PSC_VELXY_P	1	9
 1	1	PSC_VELZ_P	5	9
 1	1	WPNAV_ACCEL	220	9
 1	1	WPNAV_ACCEL_Z	100	9