weixin_39812577
weixin_39812577
2021-01-10 02:43

Defaults for Wing Wing

These are default parameters tuned by Simon Wilks

Could you please verify that I've added all relevant ones to the auto-config?

Here are the ones from Simon for reference.


# Onboard parameters for system MAV 001
#
# MAV ID  COMPONENT ID  PARAM NAME  VALUE (FLOAT)
1   50  ATT_ACC_COMP    0   6
1   50  ATT_MAG_DECL                            0   9
1   50  ATT_PITCH_OFF3                          0   9
1   50  ATT_ROLL_OFF3                           0   9
1   50  ATT_YAW_OFF3                            0   9
1   50  BAT_CAPACITY                           -1   9
1   50  BAT_C_SCALING                      0.0124   9
1   50  BAT_N_CELLS 2   6
1   50  BAT_V_EMPTY                       3.2   9
1   50  BAT_V_FULL                       4.05   9
1   50  BAT_V_SCALE_IO  10000   6
1   50  BAT_V_SCALING                  0.00459341   9
1   50  EKF_ATT_V3_Q0                      0.0001   9
1   50  EKF_ATT_V3_Q1                        0.08   9
1   50  EKF_ATT_V3_Q2                       0.009   9
1   50  EKF_ATT_V3_Q3                       0.005   9
1   50  EKF_ATT_V3_Q4                           0   9
1   50  EKF_ATT_V4_R0                      0.0008   9
1   50  EKF_ATT_V4_R1                       10000   9
1   50  EKF_ATT_V4_R2                         100   9
1   50  EKF_ATT_V4_R3                           0   9
1   50  FW_AIRSPD_MAX                          15   9
1   50  FW_AIRSPD_MIN                           7   9
1   50  FW_AIRSPD_TRIM                         11   9
1   50  FW_ATT_TC                         0.3   9
1   50  FW_L1_DAMPING                        0.74   9
1   50  FW_L1_PERIOD                           12   9
1   50  FW_LND_ANG                         15   9
1   50  FW_LND_FLALT                            5   9
1   50  FW_LND_HHDIST                          15   9
1   50  FW_LND_HVIRT                           13   9
1   50  FW_LND_TLALT                            5   9
1   50  FW_LOITER_R                        50   9
1   50  FW_PR_FF                          0.6   9
1   50  FW_PR_I                         0   9
1   50  FW_PR_IMAX                        0.2   9
1   50  FW_PR_P                      0.06   9
1   50  FW_PSP_OFF                          0   9
1   50  FW_P_LIM_MAX                           30   9
1   50  FW_P_LIM_MIN                          -45   9
1   50  FW_P_RMAX_NEG                        1000   9
1   50  FW_P_RMAX_POS                        1000   9
1   50  FW_P_ROLLFF                         2   9
1   50  FW_RR_FF                          0.6   9
1   50  FW_RR_I                         0   9
1   50  FW_RR_IMAX                        0.2   9
1   50  FW_RR_P                      0.09   9
1   50  FW_RSP_OFF                          0   9
1   50  FW_R_LIM                           45   9
1   50  FW_R_RMAX                        1000   9
1   50  FW_THR_CRUISE                        0.65   9
1   50  FW_THR_LND_MAX                          0   9
1   50  FW_THR_MAX                          1   9
1   50  FW_THR_MIN                          0   9
1   50  FW_T_CLMB_MAX                         3.5   9
1   50  FW_T_HGT_OMEGA                          3   9
1   50  FW_T_HRATE_P                         0.01   9
1   50  FW_T_INTEG_GAIN                       0.1   9
1   50  FW_T_PTCH_DAMP                          0   9
1   50  FW_T_RLL2THR                           10   9
1   50  FW_T_SINK_MAX                          10   9
1   50  FW_T_SINK_MIN                         0.5   9
1   50  FW_T_SPDWEIGHT                          1   9
1   50  FW_T_SPD_OMEGA                          2   9
1   50  FW_T_SRATE_P                         0.01   9
1   50  FW_T_THR_DAMP                         0.5   9
1   50  FW_T_TIME_CONST                         9   9
1   50  FW_T_VERT_ACC                           7   9
1   50  FW_YCO_VMIN                      1000   9
1   50  FW_YR_FF                          0.3   9
1   50  FW_YR_I                      0.05   9
1   50  FW_YR_IMAX                        0.2   9
1   50  FW_YR_P                       0.5   9
1   50  FW_Y_RMAX                          60   9
1   50  GF_ON   1   6
1   50  INAV_FLOW_K                         1   9
1   50  INAV_FLOW_Q_MIN                       0.5   9
1   50  INAV_LAND_DISP                        0.7   9
1   50  INAV_LAND_T                         3   9
1   50  INAV_LAND_THR                           0   9
1   50  INAV_SONAR_ERR                        0.5   9
1   50  INAV_SONAR_FILT                      0.02   9
1   50  INAV_W_ACC_BIAS                         0   9
1   50  INAV_W_GPS_FLOW                       0.1   9
1   50  INAV_W_XY_ACC                          20   9
1   50  INAV_W_XY_FLOW                          5   9
1   50  INAV_W_XY_GPS_P                         1   9
1   50  INAV_W_XY_GPS_V                         2   9
1   50  INAV_W_Z_ACC                           20   9
1   50  INAV_W_Z_BARO                         0.5   9
1   50  INAV_W_Z_GPS_P                      0.005   9
1   50  INAV_W_Z_SONAR                          3   9
1   50  KF_ENV_G                        9.765   9
1   50  KF_ENV_MAG_DEC                      -1.68   9
1   50  KF_ENV_MAG_DIP                         60   9
1   50  KF_FAULT_ATT                           10   9
1   50  KF_FAULT_POS                           10   9
1   50  KF_R_ACCEL                          1   9
1   50  KF_R_GPS_ALT                            3   9
1   50  KF_R_GPS_POS                            2   9
1   50  KF_R_GPS_VEL                          0.5   9
1   50  KF_R_MAG                          0.8   9
1   50  KF_R_PRESS_ALT                        0.1   9
1   50  KF_V_ACCEL                          1   9
1   50  KF_V_GYRO                       0.008   9
1   50  LAUN_ALL_ON 1   6
1   50  LAUN_CAT_A                          5   9
1   50  LAUN_CAT_T                       0.03   9
1   50  LAUN_THR_PRE                          0.5   9
1   50  MAV_COMP_ID 50  6
1   50  MAV_SYS_ID  1   6
1   50  MAV_TYPE    1   6
1   50  MC_PITCHRATE_D                      0.002   9
1   50  MC_PITCHRATE_I                          0   9
1   50  MC_PITCHRATE_P                        0.1   9
1   50  MC_PITCH_P                          6   9
1   50  MC_ROLLRATE_D                       0.002   9
1   50  MC_ROLLRATE_I                           0   9
1   50  MC_ROLLRATE_P                         0.1   9
1   50  MC_ROLL_P                           6   9
1   50  MC_YAWRATE_D                        0.005   9
1   50  MC_YAWRATE_I                          0.2   9
1   50  MC_YAWRATE_P                          0.3   9
1   50  MC_YAW_FF                         0.5   9
1   50  MC_YAW_P                            2   9
1   50  MPC_LAND_SPEED                          1   9
1   50  MPC_LAND_TILT                         0.3   9
1   50  MPC_THR_MAX                       0.8   9
1   50  MPC_THR_MIN                       0.2   9
1   50  MPC_TILT_MAX                          0.5   9
1   50  MPC_XY_FF                         0.5   9
1   50  MPC_XY_P                          0.5   9
1   50  MPC_XY_VEL_D                            0   9
1   50  MPC_XY_VEL_I                            0   9
1   50  MPC_XY_VEL_MAX                          5   9
1   50  MPC_XY_VEL_P                          0.2   9
1   50  MPC_Z_FF                          0.5   9
1   50  MPC_Z_P                         1   9
1   50  MPC_Z_VEL_D                         0   9
1   50  MPC_Z_VEL_I                         0   9
1   50  MPC_Z_VEL_MAX                           3   9
1   50  MPC_Z_VEL_P                       0.1   9
1   50  NAV_ACCEPT_RAD                         10   9
1   50  NAV_LAND_ALT                           90   9
1   50  NAV_LOITER_RAD                         50   9
1   50  NAV_MIN_ALT                        50   9
1   50  NAV_ONB_MIS_EN  0   6
1   50  NAV_PARACHUTE_EN    0   6
1   50  NAV_RTL_ALT                       100   9
1   50  NAV_RTL_LAND_T                         -1   9
1   50  NAV_TAKEOFF_ALT                         5   9
1   50  PE_GPS_ALT_WGT                        0.9   9
1   50  PE_HGT_DELAY_MS 350 6
1   50  PE_MAG_DELAY_MS 30  6
1   50  PE_POS_DELAY_MS 210 6
1   50  PE_TAS_DELAY_MS 210 6
1   50  PE_VEL_DELAY_MS 230 6
1   50  RC10_DZ                         0   9
1   50  RC10_MAX                         2000   9
1   50  RC10_MIN                         1000   9
1   50  RC10_REV                            1   9
1   50  RC10_TRIM                        1500   9
1   50  RC11_DZ                         0   9
1   50  RC11_MAX                         2000   9
1   50  RC11_MIN                         1000   9
1   50  RC11_REV                            1   9
1   50  RC11_TRIM                        1500   9
1   50  RC12_DZ                         0   9
1   50  RC12_MAX                         2000   9
1   50  RC12_MIN                         1000   9
1   50  RC12_REV                            1   9
1   50  RC12_TRIM                        1500   9
1   50  RC13_DZ                         0   9
1   50  RC13_MAX                         2000   9
1   50  RC13_MIN                         1000   9
1   50  RC13_REV                            1   9
1   50  RC13_TRIM                        1500   9
1   50  RC14_DZ                         0   9
1   50  RC14_MAX                         2000   9
1   50  RC14_MIN                         1000   9
1   50  RC14_REV                            1   9
1   50  RC14_TRIM                        1500   9
1   50  RC15_DZ                         0   9
1   50  RC15_MAX                         2000   9
1   50  RC15_MIN                         1000   9
1   50  RC15_REV                            1   9
1   50  RC15_TRIM                        1500   9
1   50  RC16_DZ                         0   9
1   50  RC16_MAX                         2000   9
1   50  RC16_MIN                         1000   9
1   50  RC16_REV                            1   9
1   50  RC16_TRIM                        1500   9
1   50  RC17_DZ                         0   9
1   50  RC17_MAX                         2000   9
1   50  RC17_MIN                         1000   9
1   50  RC17_REV                            1   9
1   50  RC17_TRIM                        1500   9
1   50  RC18_DZ                         0   9
1   50  RC18_MAX                         2000   9
1   50  RC18_MIN                         1000   9
1   50  RC18_REV                            1   9
1   50  RC18_TRIM                        1500   9
1   50  RC1_DZ                          0   9
1   50  RC1_MAX                      1784   9
1   50  RC1_MIN                       982   9
1   50  RC1_REV                         1   9
1   50  RC1_TRIM                          982   9
1   50  RC2_DZ                          0   9
1   50  RC2_MAX                      1906   9
1   50  RC2_MIN                      1105   9
1   50  RC2_REV                        -1   9
1   50  RC2_TRIM                         1505   9
1   50  RC3_DZ                          0   9
1   50  RC3_MAX                      1906   9
1   50  RC3_MIN                      1105   9
1   50  RC3_REV                         1   9
1   50  RC3_TRIM                         1505   9
1   50  RC4_DZ                         30   9
1   50  RC4_MAX                      1906   9
1   50  RC4_MIN                      1105   9
1   50  RC4_REV                        -1   9
1   50  RC4_TRIM                         1505   9
1   50  RC5_DZ                          0   9
1   50  RC5_MAX                      1906   9
1   50  RC5_MIN                      1105   9
1   50  RC5_REV                        -1   9
1   50  RC5_TRIM                         1506   9
1   50  RC6_DZ                          0   9
1   50  RC6_MAX                      1906   9
1   50  RC6_MIN                      1105   9
1   50  RC6_REV                         1   9
1   50  RC6_TRIM                         1506   9
1   50  RC7_DZ                          0   9
1   50  RC7_MAX                      2000   9
1   50  RC7_MIN                      1000   9
1   50  RC7_REV                         1   9
1   50  RC7_TRIM                         1500   9
1   50  RC8_DZ                          0   9
1   50  RC8_MAX                      2000   9
1   50  RC8_MIN                      1000   9
1   50  RC8_REV                         1   9
1   50  RC8_TRIM                         1500   9
1   50  RC9_DZ                          0   9
1   50  RC9_MAX                      2000   9
1   50  RC9_MIN                      1000   9
1   50  RC9_REV                         1   9
1   50  RC9_TRIM                         1500   9
1   50  RC_DSM_BIND -1  6
1   50  RC_FS_CH    0   6
1   50  RC_FS_MODE  0   6
1   50  RC_FS_THR                         800   9
1   50  RC_MAP_ASSIST_SW    6   6
1   50  RC_MAP_AUX1 0   6
1   50  RC_MAP_AUX2 0   6
1   50  RC_MAP_AUX3 0   6
1   50  RC_MAP_FLAPS    0   6
1   50  RC_MAP_MISSIO_SW    8   6
1   50  RC_MAP_MODE_SW  5   6
1   50  RC_MAP_PITCH    3   6
1   50  RC_MAP_RETURN_SW    7   6
1   50  RC_MAP_ROLL 2   6
1   50  RC_MAP_THROTTLE 1   6
1   50  RC_MAP_YAW  4   6
1   50  RC_RL1_DSM_VCC  0   6
1   50  RC_SCALE_PITCH                          1   9
1   50  RC_SCALE_ROLL                           1   9
1   50  RC_SCALE_YAW                            2   9
1   50  SENS_ACC_XOFF                   0.0272903   9
1   50  SENS_ACC_XSCALE                  0.997223   9
1   50  SENS_ACC_YOFF                   -0.365055   9
1   50  SENS_ACC_YSCALE                   1.00006   9
1   50  SENS_ACC_ZOFF                   -0.842335   9
1   50  SENS_ACC_ZSCALE                  0.989812   9
1   50  SENS_BOARD_ROT  8   6
1   50  SENS_DPRES_ANA  0   6
1   50  SENS_DPRES_OFF                    14.5102   9
1   50  SENS_EXT_MAG_ROT    0   6
1   50  SENS_GYRO_XOFF                 -0.0146779   9
1   50  SENS_GYRO_XSCALE                            1   9
1   50  SENS_GYRO_YOFF                  0.0443276   9
1   50  SENS_GYRO_YSCALE                            1   9
1   50  SENS_GYRO_ZOFF                 -0.0870032   9
1   50  SENS_GYRO_ZSCALE                            1   9
1   50  SENS_MAG_XOFF                   -0.280282   9
1   50  SENS_MAG_XSCALE                   1.02807   9
1   50  SENS_MAG_YOFF                   0.0886623   9
1   50  SENS_MAG_YSCALE                   1.01113   9
1   50  SENS_MAG_ZOFF                   -0.199238   9
1   50  SENS_MAG_ZSCALE                  0.974594   9
1   50  SYS_AUTOCONFIG  0   6
1   50  SYS_AUTOSTART   3033    6
1   50  TEST_D                       0.01   9
1   50  TEST_DEV                            2   9
1   50  TEST_D_LP                          10   9
1   50  TEST_HP                        10   9
1   50  TEST_I                        0.1   9
1   50  TEST_I_MAX                          1   9
1   50  TEST_LP                        10   9
1   50  TEST_MAX                            1   9
1   50  TEST_MEAN                           1   9
1   50  TEST_MIN                           -1   9
1   50  TEST_P                        0.2   9
1   50  TEST_TRIM                         0.5   9
1   50  TRIM_PITCH                          0   9
1   50  TRIM_ROLL                           0   9
1   50  TRIM_YAW                            0   9
1   50  test    305419896   6

该提问来源于开源项目:PX4/Firmware

  • 点赞
  • 写回答
  • 关注问题
  • 收藏
  • 复制链接分享
  • 邀请回答

5条回答

  • weixin_39812577 weixin_39812577 4月前

    Could you add it?

    点赞 评论 复制链接分享
  • weixin_39634443 weixin_39634443 4月前

    Could you add it?

    Yes this was a reminder for myself, done in 7fa6b48a36d80ed0b0b3b81cebf45810c0d6f42d

    点赞 评论 复制链接分享
  • weixin_39812577 weixin_39812577 4月前

    We want to set the battery voltage scaling param here also, depending on if the FMU only param is set.

    点赞 评论 复制链接分享
  • weixin_39634443 weixin_39634443 4月前

    We want to set the battery voltage scaling param here also, depending on if the FMU only param is set.

    I suggest to do that in a more top-level file (rcS?) and not in this specific wing wing startup script

    点赞 评论 复制链接分享
  • weixin_39634443 weixin_39634443 4月前

    FW_THR_CRUISE is missing

    点赞 评论 复制链接分享

相关推荐