From 2a25507a7c6ab33098ee496a3110449df4784c74 Mon Sep 17 00:00:00 2001 From: stibipet Date: Mon, 10 Jun 2024 15:41:40 +0200 Subject: [PATCH] gz_strivermini: revert control surface torques --- .../airframes/4430_gz_ssrc_strivermini | 16 +++++++++++++--- 1 file changed, 13 insertions(+), 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 index affea76da0bd..2173e7582a92 100644 --- 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