Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

improve vtol configs #61

Merged
merged 4 commits into from
Jun 12, 2024
Merged
Show file tree
Hide file tree
Changes from all commits
Commits
File filter

Filter by extension

Filter by extension


Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 8 additions & 0 deletions configs/px4/v1.13/vtol_13070/airframe.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -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
3 changes: 3 additions & 0 deletions configs/px4/v1.14/standard_vtol/airframe.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -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.

Expand Down
5 changes: 5 additions & 0 deletions configs/px4/v1.15/standard_vtol/airframe.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -14,9 +14,14 @@ 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.

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
1 change: 1 addition & 0 deletions requirements.txt
Original file line number Diff line number Diff line change
@@ -1,3 +1,4 @@
raccoonlab-tools>=0.1.0
autopilot-tools>=0.4.4
wget>=3.2
netifaces
Loading