startup scripts/mc_pos_control: renamed parameters after refactor

PX4 · Mar 21, 2017 · f58e831 · f58e831
1 parent c99c90d
commit f58e831
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Showing 19 changed files with 8 additions and 20 deletions.
diff --git a/ROMFS/px4fmu_common/init.d/12002_steadidrone_mavrik b/ROMFS/px4fmu_common/init.d/12002_steadidrone_mavrik
@@ -31,7 +31,7 @@ then
 
 	param set MPC_HOLD_MAX_XY 0.25
 	param set MPC_THR_MIN 0.15
-	param set MPC_Z_VEL_MAX 2.0
+	param set MPC_Z_VEL_MAX_DN 2.0
 
 	param set BAT_N_CELLS 4
 fi

diff --git a/ROMFS/px4fmu_common/init.d/13008_QuadRanger b/ROMFS/px4fmu_common/init.d/13008_QuadRanger
@@ -38,7 +38,7 @@ then
 	param set MC_YAWRAUTO_MAX 40.0
 
 	param set MPC_ACC_HOR_MAX 2.0
-	param set MPC_Z_VEL_MAX 1.5
+	param set MPC_Z_VEL_MAX_DN 1.5
 	param set MPC_TKO_SPEED 1.5
 	param set MPC_LAND_SPEED 0.8
 

diff --git a/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger b/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger
@@ -67,7 +67,6 @@ then
     param set MPC_XY_VEL_P    0.05
     param set MPC_Z_FF    0.3
     param set MPC_Z_P 0.5
-    param set MPC_Z_VEL_MAX   1.0
     param set MPC_Z_VEL_P 0.1
 
     param set NAV_ACC_RAD 3.0

diff --git a/ROMFS/px4fmu_common/init.d/4030_solo b/ROMFS/px4fmu_common/init.d/4030_solo
@@ -23,7 +23,7 @@ then
     param set MC_ROLLRATE_P     0.11
     param set MPC_MANTHR_MIN    0.08
     param set MPC_XY_VEL_MAX    3.0
-    param set MPC_Z_VEL_MAX     2.0
+    param set MPC_Z_VEL_MAX_DN     2.0
 
     # INAV: higher GPS weights for better altitude control
     param set INAV_W_Z_BARO     0.3

diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
@@ -14,7 +14,7 @@ then
 	param set NAV_ACC_RAD 3
 	param set MPC_TKO_SPEED 1.0
 	param set MPC_LAND_SPEED 0.7
-	param set MPC_Z_VEL_MAX 1.5
+	param set MPC_Z_VEL_MAX_DN 1.5
 	param set MPC_XY_VEL_MAX 4.0
 	param set MIS_YAW_TMT 10
 	param set MPC_ACC_HOR_MAX 2.0

diff --git a/ROMFS/tap_common/init.d/rc.vtol_defaults b/ROMFS/tap_common/init.d/rc.vtol_defaults
@@ -14,7 +14,7 @@ then
 	param set NAV_ACC_RAD 3
 	param set MPC_TKO_SPEED 1.0
 	param set MPC_LAND_SPEED 0.7
-	param set MPC_Z_VEL_MAX 1.5
+	param set MPC_Z_VEL_MAX_DN 1.5
 	param set MPC_XY_VEL_MAX 4.0
 	param set MIS_YAW_TMT 10
 	param set MPC_ACC_HOR_MAX 2.0

diff --git a/posix-configs/SITL/init/ekf2/iris b/posix-configs/SITL/init/ekf2/iris
@@ -32,7 +32,6 @@ param set MC_ROLL_P 6
 param set MC_ROLLRATE_P 0.2
 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_Z_VEL_I 0.15
 param set MPC_Z_VEL_P 0.6
 param set NAV_ACC_RAD 2.0

diff --git a/posix-configs/SITL/init/ekf2/iris_opt_flow b/posix-configs/SITL/init/ekf2/iris_opt_flow
@@ -37,7 +37,6 @@ param set MC_PITCHRATE_P 0.2
 param set MC_PITCH_P 6
 param set MC_ROLL_P 6
 param set MPC_HOLD_MAX_Z 2.0
-param set MPC_HOLD_XY_DZ 0.1
 param set MPC_Z_VEL_P 0.6
 param set MPC_Z_VEL_I 0.15
 param set EKF2_GBIAS_INIT 0.01

diff --git a/posix-configs/SITL/init/ekf2/multiple_iris b/posix-configs/SITL/init/ekf2/multiple_iris
@@ -32,7 +32,6 @@ param set MC_ROLL_P 6
 param set MC_ROLLRATE_P 0.2
 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_Z_VEL_I 0.15
 param set MPC_Z_VEL_P 0.6
 param set NAV_ACC_RAD 2.0

diff --git a/posix-configs/SITL/init/ekf2/solo b/posix-configs/SITL/init/ekf2/solo
@@ -29,7 +29,6 @@ param set MC_ROLL_P 6
 param set MC_ROLLRATE_P 0.15
 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_Z_VEL_I 0.15
 param set MPC_Z_VEL_P 0.6
 param set NAV_ACC_RAD 2.0

diff --git a/posix-configs/SITL/init/ekf2/standard_vtol b/posix-configs/SITL/init/ekf2/standard_vtol
@@ -42,7 +42,7 @@ param set MPC_XY_VEL_D 0.005
 param set MPC_XY_VEL_I 0.2
 param set MPC_XY_VEL_P 0.15
 param set MPC_Z_VEL_I 0.15
-param set MPC_Z_VEL_MAX 1.5
+param set MPC_Z_VEL_MAX_DN 1.5
 param set MPC_Z_VEL_P 0.6
 param set NAV_ACC_RAD 5.0
 param set NAV_DLL_ACT 2

diff --git a/posix-configs/SITL/init/ekf2/tailsitter b/posix-configs/SITL/init/ekf2/tailsitter
@@ -31,7 +31,6 @@ param set MPC_XY_P 0.15
 param set MPC_XY_VEL_D 0.005
 param set MPC_XY_VEL_P 0.05
 param set MPC_Z_VEL_I 0.15
-param set MPC_Z_VEL_MAX 1.0
 param set MPC_Z_VEL_P 0.8
 param set NAV_DLL_ACT 2
 param set SENS_BOARD_ROT 0

diff --git a/posix-configs/SITL/init/ekf2/typhoon_h480 b/posix-configs/SITL/init/ekf2/typhoon_h480
@@ -29,7 +29,6 @@ param set MC_ROLL_P 6
 param set MC_ROLLRATE_P 0.1
 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_XY_VEL_I 0.2
 param set MPC_XY_VEL_P 0.15
 param set MPC_Z_VEL_I 0.15

diff --git a/posix-configs/SITL/init/inav/iris_opt_flow b/posix-configs/SITL/init/inav/iris_opt_flow
@@ -36,7 +36,6 @@ param set MC_ROLL_P 5.5
 param set MC_ROLLRATE_I 0.1
 param set MC_PITCHRATE_I 0.1
 param set MPC_HOLD_MAX_Z 2.0
-param set MPC_HOLD_XY_DZ 0.1
 param set MPC_Z_VEL_P 0.8
 param set MPC_Z_VEL_I 0.15
 param set MPC_XY_VEL_P 0.15

diff --git a/posix-configs/SITL/init/lpe/iris b/posix-configs/SITL/init/lpe/iris
@@ -37,7 +37,6 @@ param set MC_PITCHRATE_P 0.2
 param set MC_PITCH_P 6
 param set MC_ROLL_P 6
 param set MPC_HOLD_MAX_Z 2.0
-param set MPC_HOLD_XY_DZ 0.1
 param set MPC_Z_VEL_P 0.6
 param set MPC_Z_VEL_I 0.15
 param set EKF2_GBIAS_INIT 0.01

diff --git a/posix-configs/SITL/init/lpe/iris_opt_flow b/posix-configs/SITL/init/lpe/iris_opt_flow
@@ -36,7 +36,6 @@ param set MC_ROLL_P 5.5
 param set MC_ROLLRATE_I 0.1
 param set MC_PITCHRATE_I 0.1
 param set MPC_HOLD_MAX_Z 2.0
-param set MPC_HOLD_XY_DZ 0.1
 param set MPC_Z_VEL_P 0.8
 param set MPC_Z_VEL_I 0.15
 param set MPC_XY_VEL_P 0.15
@@ -53,7 +52,7 @@ param set LPE_GPS_ON 0
 param set MPC_ALT_MODE 1
 param set LPE_T_MAX_GRADE 0
 param set MPC_XY_VEL_MAX 2
-param set MPC_Z_VEL_MAX 2
+param set MPC_Z_VEL_MAX_DN 2
 param set MPC_TILTMAX_AIR 10
 param set MPC_TILTMAX_LND 10
 param set MPC_XY_P 0.5

diff --git a/posix-configs/SITL/init/lpe/solo b/posix-configs/SITL/init/lpe/solo
@@ -37,7 +37,6 @@ param set MC_PITCHRATE_P 0.2
 param set MC_PITCH_P 6
 param set MC_ROLL_P 6
 param set MPC_HOLD_MAX_Z 2.0
-param set MPC_HOLD_XY_DZ 0.1
 param set MPC_Z_VEL_P 0.6
 param set MPC_Z_VEL_I 0.15
 param set EKF2_GBIAS_INIT 0.01

diff --git a/posix-configs/SITL/init/lpe/standard_vtol b/posix-configs/SITL/init/lpe/standard_vtol
@@ -32,7 +32,7 @@ param set MPC_XY_VEL_P 0.1
 param set MPC_XY_VEL_I 0.1
 param set MPC_XY_VEL_D 0.005
 param set MPC_XY_FF 0.1
-param set MPC_Z_VEL_MAX 1.5
+param set MPC_Z_VEL_MAX_DN 1.5
 param set MPC_Z_VEL_P 0.6
 param set MPC_Z_VEL_I 0.15
 param set FW_AIRSPD_MIN 14

diff --git a/posix-configs/SITL/init/lpe/typhoon_h480 b/posix-configs/SITL/init/lpe/typhoon_h480
@@ -34,7 +34,6 @@ param set MC_PITCHRATE_P 0.2
 param set MC_PITCH_P 6
 param set MC_ROLL_P 6
 param set MPC_HOLD_MAX_Z 2.0
-param set MPC_HOLD_XY_DZ 0.1
 param set MPC_Z_VEL_P 0.6
 param set MPC_Z_VEL_I 0.15
 param set MPC_XY_VEL_P 0.15