From b0ed795ba826b64fed0a9572be11ea07554eb591 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 5 Jun 2015 01:12:10 +0200 Subject: [PATCH] Caipirinha: Improve default parameters based on Wing-Wing params --- .../px4fmu_common/init.d/3100_tbs_caipirinha | 34 +++++++++---------- 1 file changed, 17 insertions(+), 17 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha index d8cbb1fd9a..5a7d73c060 100644 --- a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha +++ b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha @@ -9,26 +9,26 @@ sh /etc/init.d/rc.fw_defaults if [ $AUTOCNF == yes ] then - - # TODO: these are the X5 default parameters, update them to the caipi - - param set FW_AIRSPD_MIN 15 - param set FW_AIRSPD_TRIM 20 - param set FW_AIRSPD_MAX 40 + param set FW_AIRSPD_MAX 20 + param set FW_AIRSPD_MIN 12 + param set FW_AIRSPD_TRIM 16 param set FW_ATT_TC 0.3 param set FW_L1_DAMPING 0.74 - param set FW_L1_PERIOD 15 - param set FW_PR_FF 0.3 - param set FW_PR_I 0 - param set FW_PR_IMAX 0.2 - param set FW_PR_P 0.03 - param set FW_P_ROLLFF 0 - param set FW_RR_FF 0.3 - param set FW_RR_I 0 + param set FW_L1_PERIOD 16 + param set FW_LND_ANG 15 + param set FW_LND_FLALT 5 + param set FW_LND_HHDIST 15 + param set FW_LND_HVIRT 13 + param set FW_LND_TLALT 5 + param set FW_THR_LND_MAX 0 + param set FW_PR_FF 0.35 + param set FW_PR_I 0.01 + param set FW_PR_IMAX 0.4 + param set FW_PR_P 0.08 + param set FW_RR_FF 0.6 + param set FW_RR_I 0.01 param set FW_RR_IMAX 0.2 - param set FW_RR_P 0.03 - param set FW_R_LIM 60 - param set FW_R_RMAX 0 + param set FW_RR_P 0.04 fi set MIXER caipi