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R12.1 striver mini af #674

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merged 2 commits into from
Apr 30, 2024
+30 −9
Merged

R12.1 striver mini af #674

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e297ba9
add new params for r12.1
JorgelHenri Apr 8, 2024
ea717d7
param tunning after r12.1 camp
JorgelHenri Apr 16, 2024
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39 changes: 30 additions & 9 deletions ROMFS/px4fmu_common/init.d/airframes/4430_ssrc_strivermini
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Original file line number Diff line number Diff line change
Expand Up @@ -72,10 +72,11 @@ param set-default PWM_AUX_FUNC6 105

# Start airspeed sensor driver
ms4525do start -X -f 500
sdp3x start -X -f 500

# Airspeed parameters
param set-default ASPD_DO_CHECKS 15
param set-default FW_AIRSPD_MAX 22.0
param set-default ASPD_DO_CHECKS 7
param set-default FW_AIRSPD_MAX 25.0
param set-default FW_AIRSPD_MIN 15.0
param set-default FW_AIRSPD_STALL 12.0
param set-default FW_AIRSPD_TRIM 18.0
Expand Down Expand Up @@ -112,33 +113,53 @@ param set-default FW_MAN_R_MAX 60.0
param set-default FW_RR_IMAX 0.4000
param set-default FW_YR_IMAX 0.4000

# Multicopter specific
param set-default MC_PITCHRATE_D 0
param set-default MC_PITCHRATE_MAX 120
param set-default MC_PITCHRATE_P 0.140
param set-default MC_PITCH_P 4
param set-default MC_ROLLRATE_D 0
param set-default MC_ROLLRATE_P 0.140
param set-default MC_ROLL_P 3.50
param set-default MPC_MAN_TILT_MAX 30.0
param set-default MPC_MAN_Y_MAX 80.0
param set-default MPC_Z_VEL_MAX_UP 2.0
param set-default MPC_Z_V_AUTO_UP 2.0

# VTOL specific
# VTOL type
param set-default VT_TYPE 2

# Airspeed at which we can start blending both fw and mc controls.
param set-default VT_ARSP_BLEND 10
param set-default VT_ARSP_BLEND 8

# Airspeed at which we can switch to fw mode
param set-default VT_ARSP_TRANS 12
param set-default VT_ARSP_TRANS 14

# Back-transition duration
param set-default VT_B_TRANS_DUR 4
param set-default VT_B_TRANS_DUR 10
param set-default VT_B_TRANS_RAMP 3

# Transition duration
param set-default VT_F_TRANS_DUR 6
param set-default VT_F_TRANS_THR 1

# VTOL takeoff
param set-default VTO_LOITER_ALT 20
param set-default VTO_LOITER_ALT 40

# QuadChute altitude (transition to quad mode as a failsafe)
param set-default VT_FW_MIN_ALT 5
param set-default VT_FW_MIN_ALT 10

# QuadChute angle limits
param set-default VT_FW_QC_P 35
param set-default VT_FW_QC_R 60
param set-default VT_FW_QC_P 25
param set-default VT_FW_QC_R 45

param set-default VT_TRANS_MIN_TM 5.00
param set-default VT_FWD_THRUST_EN 3

param set-default WV_YRATE_MAX 45.0

param set-default NAV_RCL_ACT 2

# Change current sense shunt resistor value
param set-default INA226_SHUNT 0.0005
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