From fe9d655cc260308560a744b5bd9ac2fb0e183fa0 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sat, 11 Sep 2021 12:51:56 +0900 Subject: [PATCH] Tools: improved tune for sitl copter y6 --- Tools/autotest/default_params/copter-y6.parm | 23 -------------------- 1 file changed, 23 deletions(-) diff --git a/Tools/autotest/default_params/copter-y6.parm b/Tools/autotest/default_params/copter-y6.parm index a0f8b73e03..d1212a2578 100644 --- a/Tools/autotest/default_params/copter-y6.parm +++ b/Tools/autotest/default_params/copter-y6.parm @@ -1,24 +1 @@ FRAME_CLASS 5 -ATC_ACCEL_P_MAX 100000 -ATC_ACCEL_R_MAX 100000 -ATC_ACCEL_Y_MAX 18000 -ATC_ANG_PIT_P 10 -ATC_ANG_RLL_P 10 -ATC_ANG_YAW_P 6.444827 -ATC_RAT_PIT_D 0.002727417 -ATC_RAT_PIT_I 0.3462861 -ATC_RAT_PIT_IMAX 1 -ATC_RAT_PIT_P 0.3462861 -ATC_RAT_RLL_D 0.002629029 -ATC_RAT_RLL_I 0.315668 -ATC_RAT_RLL_IMAX 0.75 -ATC_RAT_RLL_P 0.315668 -ATC_RAT_YAW_P 0.04 -ATC_RAT_YAW_I 0.004 -ATC_RATE_FF_ENAB 1 -ATC_RATE_P_MAX 0 -ATC_RATE_R_MAX 0 -ATC_RATE_Y_MAX 0 -MOT_THST_EXPO 0 -MOT_THST_HOVER 0.4832231 -MOT_YAW_HEADROOM 350