|
|
|
|
#!/bin/sh
|
|
|
|
|
#
|
|
|
|
|
# @name Steadidrone MAVRIK
|
|
|
|
|
#
|
|
|
|
|
# @type Octo Coax Wide
|
|
|
|
|
# @class Copter
|
|
|
|
|
#
|
|
|
|
|
# @output MAIN1 motor 1
|
|
|
|
|
# @output MAIN2 motor 2
|
|
|
|
|
# @output MAIN3 motor 3
|
|
|
|
|
# @output MAIN4 motor 4
|
|
|
|
|
# @output MAIN5 motor 5
|
|
|
|
|
# @output MAIN6 motor 6
|
|
|
|
|
# @output MAIN7 motor 7
|
|
|
|
|
# @output MAIN8 motor 8
|
|
|
|
|
#
|
|
|
|
|
# @maintainer Simon Wilks <simon@uaventure.com>
|
|
|
|
|
#
|
|
|
|
|
|
|
|
|
|
sh /etc/init.d/rc.mc_defaults
|
|
|
|
|
|
|
|
|
|
if [ $AUTOCNF = yes ]
|
|
|
|
|
then
|
|
|
|
|
param set MC_PITCH_P 4
|
|
|
|
|
param set MC_PITCHRATE_P 0.24
|
|
|
|
|
param set MC_PITCHRATE_I 0.09
|
|
|
|
|
param set MC_PITCHRATE_D 0.013
|
|
|
|
|
param set MC_PITCHRATE_MAX 180
|
|
|
|
|
|
|
|
|
|
param set MC_ROLL_P 4
|
|
|
|
|
param set MC_ROLLRATE_P 0.16
|
|
|
|
|
param set MC_ROLLRATE_I 0.07
|
|
|
|
|
param set MC_ROLLRATE_D 0.009
|
|
|
|
|
param set MC_ROLLRATE_MAX 180
|
|
|
|
|
|
|
|
|
|
param set MC_YAW_P 3
|
|
|
|
|
param set MC_YAWRATE_P 0.2
|
|
|
|
|
param set MC_YAWRATE_I 0.1
|
|
|
|
|
param set MC_YAWRATE_D 0
|
|
|
|
|
|
|
|
|
|
param set MPC_HOLD_MAX_XY 0.25
|
|
|
|
|
param set MPC_THR_MIN 0.15
|
|
|
|
|
param set MPC_Z_VEL_MAX_DN 2
|
|
|
|
|
|
|
|
|
|
param set BAT_N_CELLS 4
|
|
|
|
|
fi
|
|
|
|
|
|
|
|
|
|
set MIXER octo_cox_w
|
|
|
|
|
|
|
|
|
|
set PWM_OUT 12345678
|
