Update the default attitude controller params for the Iris when running on Gazebo.
Is your feature request related to a problem? Please describe.
The current value of ATC_RAT_RLL_D causes roll oscillations, reducing it to 1E-5 eliminates the problem.
Describe the solution you'd like
Either provide parameters in this project or update the parameters in the upstream project (ArduPilot/ardupilot).
Describe alternatives you've considered
A full retune / autotune of the iris Gazebo model may be useful. The proposed change is the minimum needed to eliminate the oscillation.
Platform
[ ] All
[ ] AntennaTracker
[x] Copter
[ ] Plane
[ ] Rover
[ ] Submarine
Additional context
This has not been a major problem to date, but became apparent while attempting to investigate possible issues with the motor velocity controllers while tuning the OmniCopter in SITL_Models/Gazebo.
Feature request
Update the default attitude controller params for the Iris when running on Gazebo.
Is your feature request related to a problem? Please describe.
The current value of
ATC_RAT_RLL_Dcauses roll oscillations, reducing it to 1E-5 eliminates the problem.Describe the solution you'd like
Either provide parameters in this project or update the parameters in the upstream project (ArduPilot/ardupilot).
Describe alternatives you've considered
A full retune / autotune of the iris Gazebo model may be useful. The proposed change is the minimum needed to eliminate the oscillation.
Platform
Additional context
This has not been a major problem to date, but became apparent while attempting to investigate possible issues with the motor velocity controllers while tuning the OmniCopter in SITL_Models/Gazebo.