SIH airframes: clean up config #24263
Conversation
mbjd
changed the title
mbjd
force-pushed
the
standard_vtol_config_cleanup
branch
from
6ba0af5 to
a5d8dc9
Compare
| param set-default FW_AIRSPD_TRIM 10 | ||
| param set-default FW_AIRSPD_MAX 20 | ||
| param set-default FW_AIRSPD_MIN 10 | ||
| param set-default FW_AIRSPD_TRIM 15 |
There was a problem hiding this comment.
Does it fly nice at this higher airspeed?
There was a problem hiding this comment.
With the params here, it only reaches about 12 m/s where it flies perfectly. When increasing SIH_T_MAX to 6.5N (corresponding to CA_ parameters? is CT = max thrust?) it can do 18 m/s which still looks good. Although it only uses <60% thrust in that phase so surely it could reach 20 too. Here's a log to judge with a second set of eyes: https://logs.px4.io/plot_app?log=bcb83c1e-2399-419f-9970-79389b84a3e6 (large airspeed spike was right when I increased SIH_T_MAX)
There was a problem hiding this comment.
also keep in mind that there is still this magic number doubling the forward thrust:
and probably more of this type of hackiness in sih.cpp. so the sims should be taken with several grains of salt until the models are overhauled and thoroughly validated.
There was a problem hiding this comment.
Okay but then I would be in favor or reverting these changes for the airspeed setpoint again, and address modelling in a separate work.
mbjd
force-pushed
the
standard_vtol_config_cleanup
branch
from
a5d8dc9 to
bf0a88d
Compare
- set SIH_L_ROLL that agrees with CA_* rotor geometry - remove unnecessary params & comments - clarify that ailerons are single channel
mbjd
force-pushed
the
standard_vtol_config_cleanup
branch
from
bf0a88d to
4824949
Compare
Removed unnecessary params in all sihsim airframe files, as well as standard VTOL for SIH on FC (1103).