From 504e42561ff69612a73a603a2b92e4b20d6a1697 Mon Sep 17 00:00:00 2001 From: Lorenz Meier <lm@inf.ethz.ch> Date: Fri, 8 Apr 2016 18:21:26 -0700 Subject: [PATCH] Gazebo IRIS: Fly with default gains --- posix-configs/SITL/init/rcS_gazebo_iris | 25 +++++++++---------------- 1 file changed, 9 insertions(+), 16 deletions(-) diff --git a/posix-configs/SITL/init/rcS_gazebo_iris b/posix-configs/SITL/init/rcS_gazebo_iris index 1a34e9b028..a3bae07263 100644 --- a/posix-configs/SITL/init/rcS_gazebo_iris +++ b/posix-configs/SITL/init/rcS_gazebo_iris @@ -2,10 +2,6 @@ uorb start simulator start -s param load param set MAV_TYPE 2 -param set MC_PITCHRATE_P 0.3 -param set MC_ROLLRATE_P 0.3 -param set MC_YAW_P 2.0 -param set MC_YAWRATE_P 0.35 param set SYS_AUTOSTART 4010 param set SYS_RESTART_TYPE 2 dataman start @@ -22,10 +18,6 @@ param set CAL_ACC0_YSCALE 1.01 param set CAL_ACC0_ZSCALE 1.01 param set CAL_ACC1_XOFF 0.01 param set CAL_MAG0_XOFF 0.01 -param set MPC_XY_P 0.15 -param set MPC_XY_VEL_P 0.05 -param set MPC_XY_VEL_D 0.005 -param set MPC_XY_FF 0.1 param set SENS_BOARD_ROT 8 param set SENS_BOARD_X_OFF 0.000001 param set COM_RC_IN_MODE 1 @@ -50,14 +42,15 @@ ekf2 start mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_w.main.mix -mavlink start -u 14556 -r 2000000 -mavlink start -u 14557 -r 2000000 -m onboard -o 14540 -mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556 -mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556 -mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556 -mavlink stream -r 80 -s ATTITUDE -u 14556 -mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556 -mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556 +mavlink start -u 14556 -r 4000000 +mavlink start -u 14557 -r 4000000 -m onboard -o 14540 +mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 +mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556 +mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556 +mavlink stream -r 50 -s ATTITUDE -u 14556 +mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556 +mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556 +mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556 mavlink stream -r 20 -s RC_CHANNELS -u 14556 mavlink stream -r 250 -s HIGHRES_IMU -u 14556 mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556 -- GitLab