px4_autopilot/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250

#!/bin/sh
#
# @name ZMR250 Racer
#
# @type Quadrotor x
# @class Copter
#
# @maintainer Anton Matosov <anton.matosov@gmail.com>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

sh /etc/init.d/rc.mc_defaults

set MIXER zmr250
set PWM_OUT 1234

if [ $AUTOCNF = yes ]
then
	param set CBRK_IO_SAFETY 22027

	param set FAILSAFE 100

	param set MC_ROLL_P 2.2
	param set MC_ROLLRATE_P 0.06
	param set MC_ROLLRATE_I 0.2
	param set MC_ROLLRATE_D 0.0017

	param set MC_PITCH_P 2.2
	param set MC_PITCHRATE_P 0.06
	param set MC_PITCHRATE_I 0.2
	param set MC_PITCHRATE_D 0.0017

	param set MC_YAW_P 1
	param set MC_YAWRATE_P 0.15
	param set MC_YAWRATE_I 0.2
	param set MC_YAWRATE_D 0

	param set MC_ACRO_R_MAX 1000
	param set MC_ACRO_P_MAX 1000
	param set MC_ACRO_Y_MAX 1000

	param set MC_TPA_BREAK_P 0.5
	param set MC_TPA_BREAK_D 0.7
	param set MC_TPA_RATE_P 0.5
	param set MC_TPA_RATE_D 0.5

	# param set NAV_RCL_ACT 6 # Lockdown

	param set PWM_MIN 1075
	param set PWM_RATE 400
	param set PWM_DISARMED 900
fi
ROMFS: change shebang from #!zsh to #!/bin/sh This was required for shellsheck. 6 years ago			`#!/bin/sh`
Rework TPA to have per-component setup and use more stable and intuitive function This also adds a ZMR250 config. 8 years ago			`#`
			`# @name ZMR250 Racer`
			`#`
			`# @type Quadrotor x`
Quad configs: add class field 8 years ago			`# @class Copter`
Rework TPA to have per-component setup and use more stable and intuitive function This also adds a ZMR250 config. 8 years ago			`#`
ROMFS: Exclude uncommon board configs (ZMR250) 5 years ago			`# @maintainer Anton Matosov <anton.matosov@gmail.com>`
			`#`
boards new split VENDOR_MODEL naming convention 6 years ago			`# @board px4_fmu-v2 exclude`
UVify Core board support and airframes (Draco, Draco-R, IFO) (#12337) * also includes minor changes to make it easy to keep in sync with px4_fmu-v4 6 years ago			`# @board intel_aerofc-v1 exclude`
ROMFS: Exclude uncommon board configs (ZMR250) 5 years ago			`# @board bitcraze_crazyflie exclude`
Rework TPA to have per-component setup and use more stable and intuitive function This also adds a ZMR250 config. 8 years ago			`#`

			`sh /etc/init.d/rc.mc_defaults`

			`set MIXER zmr250`
			`set PWM_OUT 1234`

NuttX shell scripts: replace operator == with = - NuttX supports both versions - POSIX shell only supports '=' 6 years ago			`if [ $AUTOCNF = yes ]`
Rework TPA to have per-component setup and use more stable and intuitive function This also adds a ZMR250 config. 8 years ago			`then`
Set parameters directly rather than script variables in VTOL airframe config files and alphabetize lists. 7 years ago			`param set CBRK_IO_SAFETY 22027`

			`param set FAILSAFE 100`

mc_att_control: remove time constant parameter Because the parameter does not make sense from a control theory perspective. Either you have a gain with the unit 1/s or an inverse gain or time constant with the unit s. But the time constant parameter was neither bound to any exact unit nor did it apply instead of a gain. Rather it adjusted multiple gains from rate and attitude control according to an arbitrary scale. This can only by accident lead to good tuning. 7 years ago			`param set MC_ROLL_P 2.2`
			`param set MC_ROLLRATE_P 0.06`
Rework TPA to have per-component setup and use more stable and intuitive function This also adds a ZMR250 config. 8 years ago			`param set MC_ROLLRATE_I 0.2`
mc_att_control: remove time constant parameter Because the parameter does not make sense from a control theory perspective. Either you have a gain with the unit 1/s or an inverse gain or time constant with the unit s. But the time constant parameter was neither bound to any exact unit nor did it apply instead of a gain. Rather it adjusted multiple gains from rate and attitude control according to an arbitrary scale. This can only by accident lead to good tuning. 7 years ago			`param set MC_ROLLRATE_D 0.0017`
Rework TPA to have per-component setup and use more stable and intuitive function This also adds a ZMR250 config. 8 years ago
mc_att_control: remove time constant parameter Because the parameter does not make sense from a control theory perspective. Either you have a gain with the unit 1/s or an inverse gain or time constant with the unit s. But the time constant parameter was neither bound to any exact unit nor did it apply instead of a gain. Rather it adjusted multiple gains from rate and attitude control according to an arbitrary scale. This can only by accident lead to good tuning. 7 years ago			`param set MC_PITCH_P 2.2`
			`param set MC_PITCHRATE_P 0.06`
Rework TPA to have per-component setup and use more stable and intuitive function This also adds a ZMR250 config. 8 years ago			`param set MC_PITCHRATE_I 0.2`
mc_att_control: remove time constant parameter Because the parameter does not make sense from a control theory perspective. Either you have a gain with the unit 1/s or an inverse gain or time constant with the unit s. But the time constant parameter was neither bound to any exact unit nor did it apply instead of a gain. Rather it adjusted multiple gains from rate and attitude control according to an arbitrary scale. This can only by accident lead to good tuning. 7 years ago			`param set MC_PITCHRATE_D 0.0017`
Rework TPA to have per-component setup and use more stable and intuitive function This also adds a ZMR250 config. 8 years ago
ROMFS defaults drop floating point decimal 6 years ago			`param set MC_YAW_P 1`
Rework TPA to have per-component setup and use more stable and intuitive function This also adds a ZMR250 config. 8 years ago			`param set MC_YAWRATE_P 0.15`
			`param set MC_YAWRATE_I 0.2`
ROMFS defaults drop floating point decimal 6 years ago			`param set MC_YAWRATE_D 0`
Rework TPA to have per-component setup and use more stable and intuitive function This also adds a ZMR250 config. 8 years ago
ROMFS defaults drop floating point decimal 6 years ago			`param set MC_ACRO_R_MAX 1000`
			`param set MC_ACRO_P_MAX 1000`
			`param set MC_ACRO_Y_MAX 1000`
Rework TPA to have per-component setup and use more stable and intuitive function This also adds a ZMR250 config. 8 years ago
			`param set MC_TPA_BREAK_P 0.5`
			`param set MC_TPA_BREAK_D 0.7`
			`param set MC_TPA_RATE_P 0.5`
			`param set MC_TPA_RATE_D 0.5`
ZMR: Refresh config 8 years ago
Set parameters directly rather than script variables in VTOL airframe config files and alphabetize lists. 7 years ago			`# param set NAV_RCL_ACT 6 # Lockdown`

Rework TPA to have per-component setup and use more stable and intuitive function This also adds a ZMR250 config. 8 years ago			`param set PWM_MIN 1075`
			`param set PWM_RATE 400`
			`param set PWM_DISARMED 900`
			`fi`