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85 lines
1.8 KiB
85 lines
1.8 KiB
6 years ago
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#!/bin/sh
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#
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# @name BabyShark VTOL
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#
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# @type Standard VTOL
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# @class VTOL
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#
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# @maintainer Silvan Fuhrer <silvan@auterion.com>
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#
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# @output MAIN1 Ailerons
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# @output MAIN2 A-tail left
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# @output MAIN3 Pusher motor
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# @output MAIN4 A-tail right
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# @output MAIN5 motor 1
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# @output MAIN6 motor 2
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# @output MAIN7 motor 3
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# @output MAIN8 motor 4
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sh /etc/init.d/rc.vtol_defaults
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if [ $AUTOCNF = yes ]
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then
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param set FW_AIRSPD_MAX 28
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param set FW_AIRSPD_MIN 17
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param set FW_AIRSPD_TRIM 23
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param set FW_CLMBOUT_DIFF 0.1
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param set FW_L1_R_SLEW_MAX 40
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param set FW_LND_EARLYCFG 1
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param set FW_P_LIM_MAX 25
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param set FW_P_LIM_MIN -25
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param set FW_R_LIM 35
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param set FW_THR_CRUISE 0.7
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param set FW_THR_MIN 0.25
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param set FW_THR_SLEW_MAX 0.6
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param set FW_T_HRATE_FF 0
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param set IMU_GYRO_CUTOFF 40
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param set MC_DTERM_CUTOFF 15
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param set MC_PITCHRATE_MAX 60
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param set MC_ROLLRATE_MAX 60
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param set MC_YAWRATE_I 0.15
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param set MC_YAWRATE_MAX 40
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param set MC_YAWRATE_P 0.3
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param set MC_YAWRAUTO_MAX 40
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param set MPC_MAN_TILT_MAX 25
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param set MPC_MAN_Y_MAX 40
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param set MPC_SPOOLUP_TIME 2
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param set MPC_THR_HOVER 0.45
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param set MPC_TILTMAX_AIR 25
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param set MPC_TKO_RAMP_T0.8
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param set MPC_VEL_MANUAL 3
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param set MPC_XY_VEL_MAX 3.5
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param set MPC_Z_VEL_MAX_UP 2
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param set PWM_MAIN_DIS3 1000
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param set PWM_MAIN_MIN3 1120
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param set PWM_MIN 950
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param set V19_VT_ROLLDIR 0
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param set VT_ARSP_TRANS 19
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param set VT_B_TRANS_DUR 9
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param set VT_ELEV_MC_LOCK 0
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param set VT_FWD_THRUST_SC 1.2
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param set VT_FW_MOT_OFFID 5678
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param set VT_F_TRANS_DUR 8
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param set VT_F_TRANS_THR 0.85
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param set VT_F_TR_OL_TM 7
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param set VT_IDLE_PWM_MC 1000
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param set VT_MOT_COUNT 8
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param set VT_PSHER_RMP_DT 2
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param set VT_TRANS_MIN_TM 6
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param set VT_TYPE 2
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fi
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set MAV_TYPE 22
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set MIXER babyshark
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set MIXER_AUX pass
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set PWM_OUT 5678
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