gz_strivermini: revert control surface torques

tiiuae · Jun 10, 2024 · 2a25507 · 2a25507
1 parent 2ccfbe2
commit 2a25507
Showing 1 changed file with 13 additions and 3 deletions.
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4430_gz_ssrc_strivermini b/ROMFS/px4fmu_common/init.d-posix/airframes/4430_gz_ssrc_strivermini
@@ -61,11 +61,11 @@ param set-default CA_SV_CS_COUNT 5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS1_TRQ_R -0.5
+param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 0.5
 param set-default CA_SV_CS3_TYPE 3
-param set-default CA_SV_CS3_TRQ_P -1.0
+param set-default CA_SV_CS3_TRQ_P 0.5
 param set-default CA_SV_CS4_TYPE 4
 param set-default CA_SV_CS4_TRQ_Y 1.0
 
@@ -129,6 +129,16 @@ param set-default VT_F_TRANS_THR 1
 # VTOL takeoff
 param set-default VTO_LOITER_ALT 20
 
+param set-default MC_ROLLRATE_P 0.3
+param set-default MC_YAW_P 1.6
+
+param set-default MPC_XY_P 0.8
+param set-default MPC_XY_VEL_P_ACC 3
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_D_ACC 0.1
+
+param set-default NAV_ACC_RAD 5
+
 # # QuadChute altitude (transition to quad mode as a failsafe)
 # param set-default VT_FW_MIN_ALT 5