From 07fecaa9d596ffab812442b13f7b132c98dcdbed Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 24 Dec 2016 11:10:55 +0100 Subject: [PATCH] Re-tune the H480 config as we increased its simulated motor power recently. --- posix-configs/SITL/init/ekf2/typhoon_h480 | 24 +++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/posix-configs/SITL/init/ekf2/typhoon_h480 b/posix-configs/SITL/init/ekf2/typhoon_h480 index 4f96892257..d435e90cd5 100644 --- a/posix-configs/SITL/init/ekf2/typhoon_h480 +++ b/posix-configs/SITL/init/ekf2/typhoon_h480 @@ -10,15 +10,15 @@ param set CAL_GYRO0_ID 2293768 param set CAL_ACC0_ID 1376264 param set CAL_ACC1_ID 1310728 param set CAL_MAG0_ID 196616 -param set CAL_GYRO0_XOFF 0.01 -param set CAL_ACC0_XOFF 0.01 -param set CAL_ACC0_YOFF -0.01 -param set CAL_ACC0_ZOFF 0.01 -param set CAL_ACC0_XSCALE 1.01 -param set CAL_ACC0_YSCALE 1.01 -param set CAL_ACC0_ZSCALE 1.01 -param set CAL_ACC1_XOFF 0.01 -param set CAL_MAG0_XOFF 0.01 +param set CAL_GYRO0_XOFF 0.001 +param set CAL_ACC0_XOFF 0.001 +param set CAL_ACC0_YOFF -0.001 +param set CAL_ACC0_ZOFF 0.001 +param set CAL_ACC0_XSCALE 1.0001 +param set CAL_ACC0_YSCALE 1.0001 +param set CAL_ACC0_ZSCALE 1.0001 +param set CAL_ACC1_XOFF 0.001 +param set CAL_MAG0_XOFF 0.001 param set SENS_BOARD_ROT 0 param set SENS_BOARD_X_OFF 0.000001 param set COM_RC_IN_MODE 1 @@ -29,8 +29,8 @@ param set RTL_RETURN_ALT 30.0 param set RTL_DESCEND_ALT 10.0 param set RTL_LAND_DELAY 0 param set MIS_TAKEOFF_ALT 2.5 -param set MC_ROLLRATE_P 0.2 -param set MC_PITCHRATE_P 0.2 +param set MC_ROLLRATE_P 0.15 +param set MC_PITCHRATE_P 0.15 param set MC_PITCH_P 6 param set MC_ROLL_P 6 param set MPC_HOLD_MAX_Z 2.0 @@ -74,7 +74,7 @@ mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556 mavlink stream -r 20 -s RC_CHANNELS -u 14556 mavlink stream -r 250 -s HIGHRES_IMU -u 14556 mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556 -sdlog2 start -r 100 -e -t -a +logger start -e -t vmount start mavlink boot_complete replay trystart