From 6fe609d2a05640da783d62194b7f6d0cb52ac1ed Mon Sep 17 00:00:00 2001 From: chfriedrich98 Date: Mon, 18 Nov 2024 15:51:36 +0100 Subject: [PATCH] mecanum: update SITL airframe parameters --- .../airframes/4015_gz_r1_rover_mecanum | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4015_gz_r1_rover_mecanum b/ROMFS/px4fmu_common/init.d-posix/airframes/4015_gz_r1_rover_mecanum index 711427e2c5a1..e252b3cfa0f2 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/4015_gz_r1_rover_mecanum +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4015_gz_r1_rover_mecanum @@ -13,16 +13,18 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge # Rover parameters param set-default RM_WHEEL_TRACK 0.3 -param set-default RM_YAW_RATE_I 0 -param set-default RM_YAW_RATE_P 0.01 +param set-default RM_YAW_RATE_I 0.1 +param set-default RM_YAW_RATE_P 0.1 param set-default RM_MAX_ACCEL 3 +param set-default RM_MAX_DECEL 5 param set-default RM_MAX_JERK 5 -param set-default RM_MAX_SPEED 4 -param set-default RM_MAX_THR_SPD 7 -param set-default RM_MAX_THR_YAW_R 7.5 +param set-default RM_MAX_SPEED 2 +param set-default RM_MAX_THR_SPD 2.2 +param set-default RM_MAX_THR_YAW_R 1.2 param set-default RM_YAW_P 5 param set-default RM_YAW_I 0.1 -param set-default RM_MAX_YAW_RATE 180 +param set-default RM_MAX_YAW_RATE 120 +param set-default RM_MAX_YAW_ACCEL 240 param set-default RM_MISS_VEL_GAIN 1 param set-default RM_SPEED_I 0.01 param set-default RM_SPEED_P 0.1