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update params per irlock tracking updates to Copter-3.4rc2

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This commit is contained in:
John Hsu 2016-08-25 14:13:23 -07:00
parent aa259c2085
commit 139870d408
3 changed files with 12 additions and 10 deletions
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6
gimbal_small_2d/model.sdf
View File

@ -127,7 +127,7 @@
</camera>
<always_on>1</always_on>
<update_rate>10</update_rate>
<visualize>0</visualize>
<visualize>1</visualize>
</sensor>
</link>
@ -158,6 +158,8 @@
<pose>0 0 0.02 0 0 0</pose>
</joint>
<plugin name="gimbal_small_2d" filename="libGimbalSmall2dPlugin.so"/>
<plugin name="gimbal_small_2d" filename="libGimbalSmall2dPlugin.so">
<joint>tilt_joint</joint>
</plugin>
</model>
</sdf>

8
iris_with_standoffs/model.sdf
View File

@ -288,7 +288,7 @@
<upper>1e+16</upper>
</limit>
<dynamics>
<damping>0.002</damping>
<damping>0.004</damping>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
@ -358,7 +358,7 @@
<upper>1e+16</upper>
</limit>
<dynamics>
<damping>0.002</damping>
<damping>0.004</damping>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
@ -428,7 +428,7 @@
<upper>1e+16</upper>
</limit>
<dynamics>
<damping>0.002</damping>
<damping>0.004</damping>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
@ -498,7 +498,7 @@
<upper>1e+16</upper>
</limit>
<dynamics>
<damping>0.002</damping>
<damping>0.004</damping>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>

8
iris_with_standoffs_demo/model.sdf
View File

@ -517,7 +517,7 @@
<imuName>iris_demo::iris::iris/imu_link::imu_sensor</imuName>
<connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
<rotor id="0">
<vel_p_gain>0.2</vel_p_gain>
<vel_p_gain>0.05</vel_p_gain>
<vel_i_gain>0</vel_i_gain>
<vel_d_gain>0</vel_d_gain>
<vel_i_max>0</vel_i_max>
@ -529,7 +529,7 @@
<rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
</rotor>
<rotor id="1">
<vel_p_gain>0.2</vel_p_gain>
<vel_p_gain>0.05</vel_p_gain>
<vel_i_gain>0</vel_i_gain>
<vel_d_gain>0</vel_d_gain>
<vel_i_max>0</vel_i_max>
@ -541,7 +541,7 @@
<rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
</rotor>
<rotor id="2">
<vel_p_gain>0.2</vel_p_gain>
<vel_p_gain>0.05</vel_p_gain>
<vel_i_gain>0</vel_i_gain>
<vel_d_gain>0</vel_d_gain>
<vel_i_max>0</vel_i_max>
@ -553,7 +553,7 @@
<rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
</rotor>
<rotor id="3">
<vel_p_gain>0.2</vel_p_gain>
<vel_p_gain>0.05</vel_p_gain>
<vel_i_gain>0</vel_i_gain>
<vel_d_gain>0</vel_d_gain>
<vel_i_max>0</vel_i_max>