Standard VTOL configs: Limit yaw rate

9 years ago · e42ff72d6a
4 changed files with 7 additions and 0 deletions
--- a/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad
+++ b/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad
@ -33,6 +33,8 @@ then
				@@ -33,6 +33,8 @@ then
 	param set MC_YAWRATE_I 0.02
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0.0
+	param set MC_YAWRATE_MAX 20
+	param set MC_YAWRAUTO_MAX 20

 	param set FW_PR_FF 0.5
 	param set FW_PR_I 0.02
--- a/ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad
+++ b/ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad
@ -31,6 +31,8 @@ then
				@@ -31,6 +31,8 @@ then
 	param set MC_YAWRATE_I 0.02
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0.0
+	param set MC_YAWRATE_MAX 20
+	param set MC_YAWRAUTO_MAX 20

 	param set VT_MOT_COUNT 4
 	param set VT_IDLE_PWM_MC 1080
--- a/ROMFS/px4fmu_common/init.d/13008_QuadRanger
+++ b/ROMFS/px4fmu_common/init.d/13008_QuadRanger
@ -34,6 +34,8 @@ then
				@@ -34,6 +34,8 @@ then
 	param set MC_YAWRATE_I 0.04
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0.0
+	param set MC_YAWRATE_MAX 40.0
+	param set MC_YAWRAUTO_MAX 40.0

 	param set MPC_ACC_HOR_MAX 2.0
 	param set MPC_Z_VEL_MAX 1.5
--- a/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger
+++ b/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger
@ -45,6 +45,7 @@ then
				@@ -45,6 +45,7 @@ then
    param set MC_YAWRATE_I    0.02
    param set MC_YAWRATE_MAX  40.0
    param set MC_YAWRATE_P    0.18
+    param set MC_YAWRATE_MAX  40.0
    param set MC_YAWRAUTO_MAX 40.0

    param set MIS_TAKEOFF_ALT 2.5