|
|
|
|
#!/bin/sh
|
|
|
|
|
#
|
|
|
|
|
# @name UVify IFO
|
|
|
|
|
#
|
|
|
|
|
# @type Quadrotor x
|
|
|
|
|
# @class Copter
|
|
|
|
|
#
|
|
|
|
|
# @output MAIN1 motor 1
|
|
|
|
|
# @output MAIN2 motor 2
|
|
|
|
|
# @output MAIN3 motor 3
|
|
|
|
|
# @output MAIN4 motor 4
|
|
|
|
|
#
|
|
|
|
|
# @board px4_fmu-v2 exclude
|
|
|
|
|
# @board px4_fmu-v3 exclude
|
|
|
|
|
# @board px4_fmu-v4pro exclude
|
|
|
|
|
# @board px4_fmu-v5 exclude
|
|
|
|
|
# @board px4_fmu-v5x exclude
|
|
|
|
|
# @board intel_aerofc-v1 exclude
|
|
|
|
|
#
|
|
|
|
|
# @maintainer Hyon Lim <lim@uvify.com>
|
|
|
|
|
#
|
|
|
|
|
|
|
|
|
|
set VEHICLE_TYPE mc
|
|
|
|
|
set MIXER quad_x
|
|
|
|
|
set PWM_OUT 1234
|
|
|
|
|
|
|
|
|
|
if [ $AUTOCNF = yes ]
|
|
|
|
|
then
|
|
|
|
|
# Attitude & rate gains
|
|
|
|
|
#param set MC_ROLL_P 7.00000
|
|
|
|
|
param set MC_ROLLRATE_P 0.15000
|
|
|
|
|
#param set MC_ROLLRATE_I 0.90000
|
|
|
|
|
param set MC_ROLLRATE_D 0.00130
|
|
|
|
|
|
|
|
|
|
#param set MC_PITCH_P 7.00000
|
|
|
|
|
param set MC_PITCHRATE_P 0.15000
|
|
|
|
|
#param set MC_PITCHRATE_I 1.10000
|
|
|
|
|
param set MC_PITCHRATE_D 0.00160
|
|
|
|
|
|
|
|
|
|
param set MC_YAW_P 2.8
|
|
|
|
|
param set MC_YAWRATE_P 0.2
|
|
|
|
|
#param set MC_YAWRATE_I 0.15
|
|
|
|
|
param set MC_YAWRATE_D 0.0
|
|
|
|
|
param set MC_YAW_FF 0.5
|
|
|
|
|
|
|
|
|
|
#param set MC_ROLL_TC 0.19
|
|
|
|
|
#param set MC_PITCH_TC 0.16
|
|
|
|
|
|
|
|
|
|
# Manual mode settings: Unleash Draco R's power :)
|
|
|
|
|
#param set MPC_MAN_TILT_MAX 70.00000
|
|
|
|
|
#param set MC_PITCHRATE_MAX 1600.00000
|
|
|
|
|
#param set MC_ROLLRATE_MAX 1600.00000
|
|
|
|
|
#param set MC_YAWRATE_MAX 700.00000
|
|
|
|
|
param set MPC_MANTHR_MAX 0.90000
|
|
|
|
|
param set MPC_MANTHR_MIN 0.08000
|
|
|
|
|
#param set MPC_MAN_TILT_MAX 35.0000
|
|
|
|
|
#param set MPC_TILTMAX_AIR 20.0000
|
|
|
|
|
|
|
|
|
|
# Disable RC filtering
|
|
|
|
|
param set RC_FLT_CUTOFF 0.00000
|
|
|
|
|
|
|
|
|
|
# Filter settings
|
|
|
|
|
param set MC_DTERM_CUTOFF 90.00000
|
|
|
|
|
param set IMU_GYRO_CUTOFF 100.00000
|
|
|
|
|
|
|
|
|
|
# Thrust curve (avoids the need for TPA)
|
|
|
|
|
#param set THR_MDL_FAC 0.25
|
|
|
|
|
|
|
|
|
|
# System
|
|
|
|
|
param set PWM_MAX 1950
|
|
|
|
|
param set PWM_MIN 1100
|
|
|
|
|
param set PWM_RATE 0
|
|
|
|
|
|
|
|
|
|
#param set SYS_FMU_TASK 1
|
|
|
|
|
param set SENS_BOARD_ROT 10
|
|
|
|
|
|
|
|
|
|
# EKF2
|
|
|
|
|
param set EKF2_GND_EFF_DZ 6.0
|
|
|
|
|
param set EKF2_HGT_MODE 1
|
|
|
|
|
|
|
|
|
|
# Position control
|
|
|
|
|
param set MPC_Z_P 1.00000
|
|
|
|
|
param set MPC_Z_VEL_P 0.20000
|
|
|
|
|
param set MPC_Z_VEL_I 0.02000
|
|
|
|
|
param set MPC_Z_VEL_D 0.00000
|
|
|
|
|
|
|
|
|
|
param set MPC_THR_MIN 0.06000
|
|
|
|
|
param set MPC_THR_HOVER 0.3000
|
|
|
|
|
|
|
|
|
|
param set MIS_TAKEOFF_ALT 1.1000
|
|
|
|
|
param set MPC_XY_P 1.7000
|
|
|
|
|
param set MPC_XY_VEL_P 0.1300
|
|
|
|
|
param set MPC_XY_VEL_I 0.0600
|
|
|
|
|
param set MPC_XY_VEL_D 0.0100
|
|
|
|
|
param set MPC_TKO_RAMP_T 1.0000
|
|
|
|
|
param set MPC_TKO_SPEED 1.1000
|
|
|
|
|
param set MPC_VEL_MANUAL 3.0000
|
|
|
|
|
|
|
|
|
|
param set BAT_SOURCE 0
|
|
|
|
|
param set BAT_N_CELLS 4
|
|
|
|
|
param set BAT_V_DIV 10.14
|
|
|
|
|
param set BAT_A_PER_V 18.18
|
|
|
|
|
#param set CBRK_IO_SAFETY 22027
|
|
|
|
|
param set COM_ARM_EKF_AB 0.00500
|
|
|
|
|
param set COM_DISARM_LAND 2
|
|
|
|
|
|
|
|
|
|
# Filter settings
|
|
|
|
|
param set IMU_GYRO_CUTOFF 90.00000
|
|
|
|
|
param set MC_DTERM_CUTOFF 70.00000
|
|
|
|
|
|
|
|
|
|
# Don't try to be intelligent on RC loss: just cut the motors
|
|
|
|
|
param set NAV_RCL_ACT 6
|
|
|
|
|
|
|
|
|
|
# enable to use high-rate logging for better rate tracking analysis
|
|
|
|
|
# param set SDLOG_PROFILE 19
|
|
|
|
|
|
|
|
|
|
# TELEM1 ttyS1 - Wifi module
|
|
|
|
|
param set MAV_0_CONFIG 101
|
|
|
|
|
param set MAV_0_MODE 2 # onboard
|
|
|
|
|
param set SER_TEL1_BAUD 921600
|
|
|
|
|
|
|
|
|
|
# TELEM2 ttyS2 - Sub 1-Ghz
|
|
|
|
|
param set MAV_1_CONFIG 102
|
|
|
|
|
param set MAV_1_MODE 0 # normal
|
|
|
|
|
param set SER_TEL2_BAUD 57600
|
|
|
|
|
fi
|
