WEBOTS_SITL: adjust_params model

[HefnySco]

This PR adjusts dimensions and parm files of quadcopter models for more stability.
Also PWM data of all servos are sent to the simulator by default to enable adding more propellers or servos.

No core changes. Only enhancements and better stability for drones.

[HefnySco]

@peterbarker it passed :)
Thanks

[halil93ibrahim]

Hi @HefnySco, I have a question regarding the parameters of the Ardupilot SITL. I am trying to run a geometric controller implementation but the rate controllers do not seem to be well-tuned. See discussion here

I tried to tune it using qgroundcontrol, but what I notice is there are some max/min limits in qgroundcontrol some are already not fit in the interval. Such as, the ATC_RAT_PIT_P parameter is supposed to be at max 0.35 but it is set to 3.5.

Can you give any hint for the tuning process of the parameters?

Also, I noticed that ATC_RAT_PIT_D and ATC_RAT_RLL_D params are defined twice to 0.03 and 0.003.

[shubham-shahh]

Hi @HefnySco, I have a question regarding the parameters of the Ardupilot SITL. I am trying to run a geometric controller implementation but the rate controllers do not seem to be well-tuned. See discussion here

I tried to tune it using qgroundcontrol, but what I notice is there are some max/min limits in qgroundcontrol some are already not fit in the interval. Such as, the ATC_RAT_PIT_P parameter is supposed to be at max 0.35 but it is set to 3.5.

Can you give any hint for the tuning process of the parameters?

Also, I noticed that ATC_RAT_PIT_D and ATC_RAT_RLL_D params are defined twice to 0.03 and 0.003.

Try using autotune mode