From 43473b10a82c93945b79c3f440d7e1b61444ff5c Mon Sep 17 00:00:00 2001 From: Lorenz Meier <lm@inf.ethz.ch> Date: Fri, 8 Apr 2016 22:36:07 -0700 Subject: [PATCH] Better defaults for posix SITL --- posix-configs/SITL/init/rcS_gazebo_iris | 2 ++ posix-configs/SITL/init/rcS_gazebo_iris_opt_flow | 3 +++ posix-configs/SITL/init/rcS_jmavsim_iris | 3 ++- 3 files changed, 7 insertions(+), 1 deletion(-) diff --git a/posix-configs/SITL/init/rcS_gazebo_iris b/posix-configs/SITL/init/rcS_gazebo_iris index 088e2cf06b..379265d4af 100644 --- a/posix-configs/SITL/init/rcS_gazebo_iris +++ b/posix-configs/SITL/init/rcS_gazebo_iris @@ -26,6 +26,8 @@ param set COM_DISARM_LAND 3 param set NAV_ACC_RAD 12.0 param set RTL_RETURN_ALT 30.0 param set RTL_DESCEND_ALT 10.0 +param set RTL_LAND_DELAY 0 +param set MIS_TAKEOFF_ALT 2.5 param set MC_ROLLRATE_P 0.25 param set MC_PITCHRATE_P 0.25 param set MC_PITCH_P 5 diff --git a/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow b/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow index 4c64f26017..3ac00a96dd 100644 --- a/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow +++ b/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow @@ -26,10 +26,13 @@ param set COM_DISARM_LAND 3 param set NAV_ACC_RAD 12.0 param set RTL_RETURN_ALT 30.0 param set RTL_DESCEND_ALT 10.0 +param set RTL_LAND_DELAY 0 +param set MIS_TAKEOFF_ALT 2.5 param set MC_ROLLRATE_P 0.25 param set MC_PITCHRATE_P 0.25 param set MC_PITCH_P 5 param set MC_ROLL_P 5 +param set MPC_XY_VEL_P 0.05 rgbledsim start tone_alarm start gyrosim start diff --git a/posix-configs/SITL/init/rcS_jmavsim_iris b/posix-configs/SITL/init/rcS_jmavsim_iris index c150b7ee9b..0c9d20fe7b 100644 --- a/posix-configs/SITL/init/rcS_jmavsim_iris +++ b/posix-configs/SITL/init/rcS_jmavsim_iris @@ -35,7 +35,8 @@ param set COM_DISARM_LAND 3 param set NAV_ACC_RAD 2.0 param set RTL_RETURN_ALT 30.0 param set RTL_DESCEND_ALT 10.0 -param set MIS_TAKEOFF_ALT 5.0 +param set RTL_LAND_DELAY 0 +param set MIS_TAKEOFF_ALT 2.5 param set MPC_HOLD_MAX_Z 2.0 param set MPC_HOLD_XY_DZ 0.1 param set MPC_HOLD_Z_DZ 0.1 -- GitLab