Update the title metadata and gains after some tuning flights. (#5480)

9 years ago · efd64e2cd2
1 changed files with 10 additions and 7 deletions
--- a/ROMFS/px4fmu_common/init.d/4900_crazyflie
+++ b/ROMFS/px4fmu_common/init.d/4900_crazyflie
@ -1,6 +1,6 @@
				@@ -1,6 +1,6 @@
 #!nsh
 #
-# @name Crazyflie config
+# @name Crazyflie 2.0
 #
 # @type Quadrotor x
 #
@ -21,12 +21,15 @@ then
				@@ -21,12 +21,15 @@ then

 	param set SYS_COMPANION 20

-	param set MC_PITCHRATE_D 0.0028
-	param set MC_PITCHRATE_P 0.075
-	param set MC_PITCH_P 4.0
-	param set MC_ROLLRATE_D 0.0028
-	param set MC_ROLLRATE_P 0.075
-	param set MC_ROLL_P 4.0
+	param set MC_PITCHRATE_D 0.0015
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCHRATE_P 0.045
+	param set MC_PITCH_P 6.5
+	param set MC_ROLLRATE_D 0.0015
+	param set MC_ROLLRATE_I 0.05
+	param set MC_ROLLRATE_P 0.045
+	param set MC_ROLL_P 6.5
+	param set MC_YAW_P 3.0

 	param set CBRK_SUPPLY_CHK 894281
 	param set CBRK_USB_CHK 197848