exp

ROMFS/px4fmu_common/init.d-posix/airframes/4440_gz_ssrc_skywalker_x8

@@ -46,24 +46,44 @@ param set-default FW_AIRSPD_MIN 14.0
 param set-default FW_AIRSPD_STALL 12.0
 param set-default FW_AIRSPD_TRIM 18.0
 
+# Maximum landing slope angle in deg
+param set-default FW_LND_ANG 8
+
 # RC loss failsafe to HOLD mode
 param set-default COM_RC_IN_MODE 1
 
 # Maximum manual roll angle
 param set-default FW_MAN_R_MAX 60.0
 
-# Rate control
-param set-default FW_RR_IMAX 0.4000
-param set-default FW_YR_IMAX 0.4000
-
-# # Climb and sink rate
-# param set-default FW_T_CLMB_MAX 8
-# param set-default FW_T_SINK_MAX 2.7
-# param set-default FW_T_SINK_MIN 2.2
+# Fixed wing control
+# Pitch rate
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.5
+param set-default FW_PR_I 0.5
+param set-default TRIM_PITCH -0.15
+# Pitch angle in deg
+param set-default FW_PSP_OFF 0
+param set-default FW_P_LIM_MIN -15
+# Roll rate
+param set-default FW_RR_FF 0.5
+param set-default FW_RR_P 0.3
+param set-default FW_RR_I 0.5
+# Yaw rate
+param set-default FW_YR_FF 0.5
+param set-default FW_YR_P 0.6
+param set-default FW_YR_I 0.5
+#Throttle limit
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_TRIM 0.25
+# Climb and sink rate
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
 
-# # Navigation
-# param set-default NAV_ACC_RAD 15
-# param set-default NAV_DLL_ACT 2
+# Navigation
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
 
 # Launch detection
 param set-default FW_LAUN_DETCN_ON 1