You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
92 lines
1.9 KiB
92 lines
1.9 KiB
8 years ago
|
#!nsh
|
||
|
|
#
|
||
|
|
# @name Modified Parrot Disco
|
||
|
|
#
|
||
|
|
# @url
|
||
|
|
#
|
||
|
|
# @type Flying Wing
|
||
|
|
# @class Plane
|
||
|
|
#
|
||
|
|
# @output MAIN1 left aileron
|
||
|
|
# @output MAIN2 right aileron
|
||
|
|
# @output MAIN4 throttle
|
||
|
|
#
|
||
|
|
# @output AUX1 feed-through of RC AUX1 channel
|
||
|
|
# @output AUX2 feed-through of RC AUX2 channel
|
||
|
|
# @output AUX3 feed-through of RC AUX3 channel
|
||
|
|
#
|
||
|
|
# @maintainer Jan Liphardt <JTLiphardt@gmail.com>
|
||
|
|
#
|
||
|
|
|
||
|
|
sh /etc/init.d/rc.fw_defaults
|
||
|
|
|
||
|
|
if [ $AUTOCNF == yes ]
|
||
|
|
then
|
||
|
|
|
||
|
|
####################################
|
||
|
|
# Airspeed
|
||
|
|
####################################
|
||
|
|
|
||
|
|
param set FW_AIRSPD_MIN 15 # = 29 knots
|
||
|
|
param set FW_AIRSPD_TRIM 20 # = 39 knots
|
||
|
|
param set FW_AIRSPD_MAX 27 # = 52 knots
|
||
|
|
|
||
|
|
####################################
|
||
|
|
# The Main L1 Controller
|
||
|
|
####################################
|
||
|
|
|
||
|
|
param set FW_L1_PERIOD 20 #units of meters
|
||
|
|
|
||
|
|
#Damping factor for L1 control (def = 0.75)
|
||
|
|
param set FW_L1_DAMPING 0.75
|
||
|
|
|
||
|
|
####################################
|
||
|
|
# Pitch
|
||
|
|
####################################
|
||
|
|
|
||
|
|
# Basic limits (def = +/- 45 deg)
|
||
|
|
param set FW_P_LIM_MAX 45
|
||
|
|
param set FW_P_LIM_MIN -45
|
||
|
|
|
||
|
|
# Time Constant (def = 0.4s)
|
||
|
|
param set FW_P_TC 0.4
|
||
|
|
|
||
|
|
# Pitch rate feed forward (def = 0.5 %/rad/sec)
|
||
|
|
param set FW_PR_FF 0.35
|
||
|
|
|
||
|
|
# Pitch rate integrator limit (def = 0.4)
|
||
|
|
param set FW_PR_IMAX 0.4
|
||
|
|
|
||
|
|
# Pitch rate proportional gain (def = 0.08 %/rad/sec)
|
||
|
|
param set FW_PR_P 0.08
|
||
|
|
|
||
|
|
####################################
|
||
|
|
# Roll
|
||
|
|
####################################
|
||
|
|
|
||
|
|
# Basic limits (def = 50 deg)
|
||
|
|
param set FW_R_LIM 40
|
||
|
|
|
||
|
|
# Roll rate upper limit (def = 70 deg/s)
|
||
|
|
param set FW_R_RMAX 50
|
||
|
|
|
||
|
|
# Roll Time Constant (def = 0.4 s)
|
||
|
|
param set FW_R_TC 0.4
|
||
|
|
|
||
|
|
# Roll rate feed forward (def = 0.5 %/rad/sec)
|
||
|
|
param set FW_RR_FF 0.5
|
||
|
|
|
||
|
|
# Roll rate proportional Gain (def = 0.05 %/rad/sec)
|
||
|
|
param set FW_RR_P 0.05
|
||
|
|
|
||
|
|
# Roll Integrator Anti-Windup
|
||
|
|
param set FW_RR_IMAX 0.2
|
||
|
|
|
||
|
|
fi
|
||
|
|
|
||
|
|
set MIXER fw_generic_wing.main.mix
|
||
|
|
|
||
|
|
# Provide ESC a constant 1000 us pulse
|
||
|
|
set PWM_OUT 4
|
||
|
|
set PWM_DISARMED 1000
|