Hello folks,
While I have tested parameters on PX4, I also noticed that PX4 needs to check or change some valid ranges. The details are as in the below.
-
param set MC_PITCHRATE_D 10
→ Drone loses control / root problem is that there is no maximum valid range (default: 0.003 / valid range: 0 - ?) -
param set MC_PITCHRATE_I 4
→ Done’s pitch is unstable (swing) / root problem is that there is no maximum valid range (default: 0.05 / valid range: 0 - ?) -
param set MC_PITCHRATE_K 0.2
→ It causes unstable pitch angles. The valid range should be narrow (default:1 / valid range: 0.01 - 5) -
param set MC_PR_INT_LIM -1
→ It causes fall down of drones. It needs to prevent users from assigning negative parameter values. (default: 0.3 / valid range: 0 - ?) -
param set MC_ROLLRATE_D -1
→ It causes fall down of drones. It needs to prevent users from assigning negative parameter values. (default: 0.003 / valid range: 0 - 0.01) -
param set MC_ROLLRATE_I 4
→ Done’s roll is unstable (swing) / root problem is that there is no maximum valid range (default: 0.2 / valid range: 0 - ?) -
param set MC_ROLLRATE_K 4
→ It causes unstable roll angles. The valid range should be narrow (default:1 / valid range: 0.01 - 5) -
param set MC_RR_INT_LIM -1
→ It causes fall down of drones. It needs to prevent users from assigning negative parameter values. (default: 0.3 / valid range: 0 - ?) -
param set MC_YAWRATE_I 4
→ Done’s yaw is unstable (swing) / root problem is that there is no maximum valid range (default: 0.1 / valid range: 0 - ?) -
param set MC_YAWRATE_K -1
→ It causes unstable yaw angle. It needs to prevent users from assigning negative parameter values. (default:1 / valid range: 0.0 - 5.0) -
param set MPC_ACC_HOR -1
→ It makes drone failing to maintain same position during hold flight mode. (default: 3, valid range: 2 - 15) -
param set MPC_ACC_HOR_MAX -1
→ It causes losing position control. PX4 should check the valid range (default: 5 / valid range: 2 - 15) -
param set MPC_XY_VEL_I_ACC 40
→ It causes unstable. The valid range should narrow (default: 0.4 / valid range: 0 - 60) -
param set MPC_Z_VEL_D_ACC 1.3
→ It causes “Freefall detection”. The valid range should narrow (default: 0 / valid range: 0 - 2) -
param set SENS_BARO_QNH 1000
→ It causes “WARN [ecl/EKF] baro hgt timeout - reset to baro”. PX4 needs to use the updated parameter value after reboot. -
param set COM_VEL_FS_EVH -1 ← failsafe activated / there is no valid range
I note that you guys want to give users freely assigning any value to the parameters. However, If PX4 checks or changes valid ranges of these parameters, it will be nice for robustness about user inputs. Thank you in advance!