improve vtol configs

ZilantRobotics · Jun 12, 2024 · 4ce6dfb · 4ce6dfb
1 parent 1e090f6
commit 4ce6dfb
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diff --git a/configs/px4/v1.13/vtol_13070/airframe.yaml b/configs/px4/v1.13/vtol_13070/airframe.yaml
@@ -8,3 +8,11 @@ FW_AIRSPD_STALL: 15.0     # Stall Airspeed (CAS)
 NAV_LOITER_RAD: 150.0     # Loiter radius (FW only)
 FW_YR_P: 0.5              # Yaw rate proportional rate
 VT_ELEV_MC_LOCK : 1       # Lock control surfaces in hover
+
+FW_R_LIM: 35.0            # Default 50.0 that is out of max angle supported by the vtol dynamics
+FW_R_RMAX: 30.0           # Default 70.0
+FW_RR_P: 0.1              # Default 0.05
+
+FW_P_RMAX_NEG: 30.0       # Default 60.0
+FW_P_RMAX_POS: 30.0       # Default 60.0
+FW_PR_P: 0.12             # Default 0.08
diff --git a/configs/px4/v1.14/standard_vtol/airframe.yaml b/configs/px4/v1.14/standard_vtol/airframe.yaml
@@ -14,8 +14,11 @@ SENS_DPRES_OFF:   1.0
 
 FW_R_LIM: 35.0            # Default 50.0 that is out of max angle supported by the vtol dynamics
 FW_R_RMAX: 30.0           # Default 70.0
+FW_RR_P: 0.1              # Default 0.05
+
 FW_P_RMAX_NEG: 30.0       # Default 60.0
 FW_P_RMAX_POS: 30.0       # Default 60.0
+FW_PR_P: 0.12             # Default 0.08
 
 MC_YAWRATE_P: 1.0         # Yaw rate P gain. Default 0.2. Max 0.6.
 

diff --git a/configs/px4/v1.15/standard_vtol/airframe.yaml b/configs/px4/v1.15/standard_vtol/airframe.yaml
@@ -14,8 +14,11 @@ SENS_DPRES_OFF:   1.0
 
 FW_R_LIM: 35.0            # Default 50.0 that is out of max angle supported by the vtol dynamics
 FW_R_RMAX: 30.0           # Default 70.0
+FW_RR_P: 0.1              # Default 0.05
+
 FW_P_RMAX_NEG: 30.0       # Default 60.0
 FW_P_RMAX_POS: 30.0       # Default 60.0
+FW_PR_P: 0.12             # Default 0.08
 
 MC_YAWRATE_P: 1.0         # Yaw rate P gain. Default 0.2. Max 0.6.