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Quad Tailsitter SITL tuning proposal #21591

Merged
merged 3 commits into from
May 15, 2023
Merged

Quad Tailsitter SITL tuning proposal #21591

merged 3 commits into from
May 15, 2023

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sfuhrer
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@sfuhrer sfuhrer commented May 15, 2023 •
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A couple of tuning proposals for #20558 (PR against PR).

  • keep as many params at default as possible to reduce maintenance load
  • make pitch loop tighter
  • reduce aggressiveness on yaw controller as not as important as pitch/roll, and it had negative side effects on pitch/roll
  • adapt TECS params

And 377034d is acutally unrelated to the PR, but looked wrong to me.

@sfuhrer
ROMFS: quad tailsitter SITL config: remove unnecessary params
6b11d19 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
@sfuhrer
ROMFS: quadtailsitter SITL config: improve tuning
90de931 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
@sfuhrer
FW Att/Rate controller: move max attitude params to Att Controller pa…
377034d 
…rams

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Jaeyoung-Lim
Jaeyoung-Lim approved these changes May 15, 2023
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Nice! Thanks!

@Jaeyoung-Lim Jaeyoung-Lim merged this pull request into pr-sitl-quadtailsitter May 15, 2023
@Jaeyoung-Lim Jaeyoung-Lim deleted the pr-sitl-quadtailsitter-tuning branch May 15, 2023 10:40
@sfuhrer sfuhrer mentioned this pull request May 15, 2023
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@julianoes
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Very nice!

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@Jaeyoung-Lim Jaeyoung-Lim Jaeyoung-Lim approved these changes

@julianoes julianoes Awaiting requested review from julianoes

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@sfuhrer @julianoes @Jaeyoung-Lim