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.
82 lines
1.6 KiB
82 lines
1.6 KiB
4 years ago
|
#!/bin/sh
|
||
|
|
#
|
||
|
|
# @name Crazyflie 2.1
|
||
|
|
#
|
||
|
|
# @type Quadrotor x
|
||
|
|
# @class Copter
|
||
|
|
#
|
||
|
|
# @maintainer Dennis Shtatov <densht@gmail.com>
|
||
|
|
#
|
||
|
|
# @board px4_fmu-v2 exclude
|
||
|
|
# @board px4_fmu-v3 exclude
|
||
|
|
# @board px4_fmu-v4 exclude
|
||
|
|
# @board px4_fmu-v4pro exclude
|
||
|
|
# @board px4_fmu-v5 exclude
|
||
|
|
# @board px4_fmu-v5x exclude
|
||
|
|
# @board intel_aerofc-v1 exclude
|
||
|
|
#
|
||
|
|
. ${R}etc/init.d/rc.mc_defaults
|
||
|
|
|
||
|
|
set MIXER quad_x_cw
|
||
|
|
set PWM_OUT 1234
|
||
|
|
if [ $AUTOCNF = yes ]
|
||
|
|
then
|
||
|
|
param set SYS_MC_EST_GROUP 3
|
||
|
|
param set SYS_HAS_MAG 0
|
||
|
|
|
||
|
|
param set BAT_N_CELLS 1
|
||
|
|
param set BAT1_N_CELLS 1
|
||
|
|
param set BAT1_SOURCE 1
|
||
|
|
|
||
|
|
param set CBRK_SUPPLY_CHK 894281
|
||
|
|
param set CBRK_USB_CHK 197848
|
||
|
|
param set COM_RC_IN_MODE 1
|
||
|
|
|
||
|
|
param set IMU_GYRO_CUTOFF 100
|
||
|
|
param set IMU_ACCEL_CUTOFF 30
|
||
|
|
|
||
|
|
param set MC_AIRMODE 1
|
||
|
|
param set IMU_DGYRO_CUTOFF 70
|
||
|
|
param set MC_PITCHRATE_D 0.002
|
||
|
|
param set MC_PITCHRATE_I 0.2
|
||
|
|
param set MC_PITCHRATE_P 0.07
|
||
|
|
param set MC_PITCH_P 6.5
|
||
|
|
param set MC_ROLLRATE_D 0.002
|
||
|
|
param set MC_ROLLRATE_I 0.2
|
||
|
|
param set MC_ROLLRATE_P 0.07
|
||
|
|
param set MC_ROLL_P 6.5
|
||
|
|
param set MC_YAW_P 3
|
||
|
|
|
||
|
|
param set MPC_THR_HOVER 0.7
|
||
|
|
param set MPC_THR_MAX 1
|
||
|
|
param set MPC_Z_P 1.5
|
||
|
|
param set MPC_Z_VEL_P_ACC 8
|
||
|
|
param set MPC_Z_VEL_I_ACC 6
|
||
|
|
param set MPC_HOLD_MAX_XY 0.1
|
||
|
|
param set MPC_MAX_FLOW_HGT 3
|
||
|
|
#param set IMU_GYRO_NF_FREQ 10
|
||
|
|
#param set IMU_GYRO_NF_BW 20
|
||
|
|
|
||
|
|
param set NAV_RCL_ACT 3
|
||
|
|
|
||
|
|
param set PWM_DISARMED 0
|
||
|
|
param set PWM_MIN 0
|
||
|
|
param set PWM_MAX 255
|
||
|
|
|
||
|
|
# Run the motors at 328.125 kHz (recommended)
|
||
|
|
param set PWM_RATE 3921
|
||
|
|
|
||
|
|
param set SDLOG_PROFILE 1
|
||
|
|
|
||
|
|
param set SENS_FLOW_MINRNG 0.05
|
||
|
|
|
||
|
|
|
||
|
|
fi
|
||
|
|
|
||
|
|
set PWM_DISARMED none
|
||
|
|
set PWM_MAX none
|
||
|
|
set PWM_MIN none
|
||
|
|
|
||
|
|
syslink start
|
||
|
|
mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
|