flip striver motors

tiiuae · Jun 10, 2024 · 13f8d01 · 13f8d01
1 parent a813d9f
commit 13f8d01
Showing 1 changed file with 23 additions and 11 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
@@ -39,17 +39,17 @@ param set-default COM_PREARM_MODE 2
 param set-default CA_AIRFRAME 2
 param set-default CA_ROTOR_COUNT 5
 param set-default CA_ROTOR0_PX 0.37
-param set-default CA_ROTOR0_PY 0.42
+param set-default CA_ROTOR0_PY -0.42
 param set-default CA_ROTOR0_PZ 0.07
-param set-default CA_ROTOR1_PX -0.41
-param set-default CA_ROTOR1_PY -0.42
+param set-default CA_ROTOR1_PX -0.37
+param set-default CA_ROTOR1_PY 0.42
 param set-default CA_ROTOR1_PZ 0.07
 param set-default CA_ROTOR2_PX 0.37
-param set-default CA_ROTOR2_PY -0.42
+param set-default CA_ROTOR2_PY 0.42
 param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR2_PZ 0.07
-param set-default CA_ROTOR3_PX -0.41
-param set-default CA_ROTOR3_PY 0.42
+param set-default CA_ROTOR3_PX -0.37
+param set-default CA_ROTOR3_PY -0.42
 param set-default CA_ROTOR3_KM -0.05
 param set-default CA_ROTOR3_PZ 0.07
 param set-default CA_ROTOR4_AX 1.0
@@ -100,11 +100,12 @@ param set-default FW_RR_IMAX 0.4000
 param set-default FW_YR_IMAX 0.4000
 
 # Airspeed parameters
-param set-default ASPD_DO_CHECKS 15
-param set-default FW_AIRSPD_MAX 22.0
-param set-default FW_AIRSPD_MIN 15.0
-param set-default FW_AIRSPD_STALL 12.0
-param set-default FW_AIRSPD_TRIM 18.0
+param set-default ASPD_PRIMARY 1
+# param set-default ASPD_DO_CHECKS 15
+# param set-default FW_AIRSPD_MAX 22.0
+# param set-default FW_AIRSPD_MIN 15.0
+# param set-default FW_AIRSPD_STALL 12.0
+# param set-default FW_AIRSPD_TRIM 18.0
 
 # VTOL specific
 # VTOL type
@@ -127,6 +128,17 @@ param set-default VT_F_TRANS_THR 1
 # VTOL takeoff
 param set-default VTO_LOITER_ALT 20
 
+param set-default MC_AIRMODE 1
+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