From 9cfd41b72dcc6dff2d1fdab8e1a75239933ea074 Mon Sep 17 00:00:00 2001 From: PonomarevDA Date: Sun, 19 May 2024 00:28:51 +0300 Subject: [PATCH 1/4] update v1.15 vtol config --- configs/px4/v1.15/standard_vtol/airframe.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/configs/px4/v1.15/standard_vtol/airframe.yaml b/configs/px4/v1.15/standard_vtol/airframe.yaml index 9133659..3a5b75f 100644 --- a/configs/px4/v1.15/standard_vtol/airframe.yaml +++ b/configs/px4/v1.15/standard_vtol/airframe.yaml @@ -20,3 +20,5 @@ FW_P_RMAX_POS: 30.0 # Default 60.0 MC_YAWRATE_P: 1.0 # Yaw rate P gain. Default 0.2. Max 0.6. VT_B_TRANS_RAMP: 10.0 # Back transition MC motor ramp up time. Default 3.0 sec. + +EKF2_GPS_CHECK: 101.0 # Remove speed checks From ff9e13867247a80c9a24e281215e7fafda925d6f Mon Sep 17 00:00:00 2001 From: PonomarevDA Date: Mon, 10 Jun 2024 23:42:47 +0300 Subject: [PATCH 2/4] improve vtol configs --- configs/px4/v1.13/vtol_13070/airframe.yaml | 8 ++++++++ configs/px4/v1.14/standard_vtol/airframe.yaml | 3 +++ configs/px4/v1.15/standard_vtol/airframe.yaml | 3 +++ 3 files changed, 14 insertions(+) diff --git a/configs/px4/v1.13/vtol_13070/airframe.yaml b/configs/px4/v1.13/vtol_13070/airframe.yaml index 5e808b5..bbc7c71 100644 --- a/configs/px4/v1.13/vtol_13070/airframe.yaml +++ b/configs/px4/v1.13/vtol_13070/airframe.yaml @@ -8,3 +8,11 @@ FW_AIRSPD_STALL: 15.0 # Stall Airspeed (CAS) NAV_LOITER_RAD: 150.0 # Loiter radius (FW only) FW_YR_P: 0.5 # Yaw rate proportional rate VT_ELEV_MC_LOCK : 1 # Lock control surfaces in hover + +FW_R_LIM: 35.0 # Default 50.0 that is out of max angle supported by the vtol dynamics +FW_R_RMAX: 30.0 # Default 70.0 +FW_RR_P: 0.1 # Default 0.05 + +FW_P_RMAX_NEG: 30.0 # Default 60.0 +FW_P_RMAX_POS: 30.0 # Default 60.0 +FW_PR_P: 0.12 # Default 0.08 diff --git a/configs/px4/v1.14/standard_vtol/airframe.yaml b/configs/px4/v1.14/standard_vtol/airframe.yaml index 9133659..43d95d2 100644 --- a/configs/px4/v1.14/standard_vtol/airframe.yaml +++ b/configs/px4/v1.14/standard_vtol/airframe.yaml @@ -14,8 +14,11 @@ SENS_DPRES_OFF: 1.0 FW_R_LIM: 35.0 # Default 50.0 that is out of max angle supported by the vtol dynamics FW_R_RMAX: 30.0 # Default 70.0 +FW_RR_P: 0.1 # Default 0.05 + FW_P_RMAX_NEG: 30.0 # Default 60.0 FW_P_RMAX_POS: 30.0 # Default 60.0 +FW_PR_P: 0.12 # Default 0.08 MC_YAWRATE_P: 1.0 # Yaw rate P gain. Default 0.2. Max 0.6. diff --git a/configs/px4/v1.15/standard_vtol/airframe.yaml b/configs/px4/v1.15/standard_vtol/airframe.yaml index 3a5b75f..0d5c298 100644 --- a/configs/px4/v1.15/standard_vtol/airframe.yaml +++ b/configs/px4/v1.15/standard_vtol/airframe.yaml @@ -14,8 +14,11 @@ SENS_DPRES_OFF: 1.0 FW_R_LIM: 35.0 # Default 50.0 that is out of max angle supported by the vtol dynamics FW_R_RMAX: 30.0 # Default 70.0 +FW_RR_P: 0.1 # Default 0.05 + FW_P_RMAX_NEG: 30.0 # Default 60.0 FW_P_RMAX_POS: 30.0 # Default 60.0 +FW_PR_P: 0.12 # Default 0.08 MC_YAWRATE_P: 1.0 # Yaw rate P gain. Default 0.2. Max 0.6. From 0b378740d21d162f15e88452e4ec2d6639b4f0eb Mon Sep 17 00:00:00 2001 From: PonomarevDA Date: Sat, 8 Jun 2024 17:59:30 +0300 Subject: [PATCH 3/4] add netifaces to requirements --- requirements.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/requirements.txt b/requirements.txt index e5d508b..6d9b312 100644 --- a/requirements.txt +++ b/requirements.txt @@ -1,3 +1,4 @@ raccoonlab-tools>=0.1.0 autopilot-tools>=0.4.4 wget>=3.2 +netifaces \ No newline at end of file From d3ddae23845c808cc60ebf4f289f5a8056866614 Mon Sep 17 00:00:00 2001 From: PonomarevDA Date: Wed, 12 Jun 2024 20:48:32 +0300 Subject: [PATCH 4/4] fix ice topic --- uav_dynamics/uav_hitl_dynamics | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/uav_dynamics/uav_hitl_dynamics b/uav_dynamics/uav_hitl_dynamics index 6fb34e1..018640c 160000 --- a/uav_dynamics/uav_hitl_dynamics +++ b/uav_dynamics/uav_hitl_dynamics @@ -1 +1 @@ -Subproject commit 6fb34e16c982bcfea8ca8784f9c1e86059a17dae +Subproject commit 018640cabf322f85e5b44765754fc82d3c72667a