|
|
|
|
#!/bin/sh
|
|
|
|
|
#
|
|
|
|
|
# @name HolyBro QAV250
|
|
|
|
|
#
|
|
|
|
|
# @url https://docs.px4.io/master/en/frames_multicopter/holybro_qav250_pixhawk4_mini.html
|
|
|
|
|
#
|
|
|
|
|
# @type Quadrotor x
|
|
|
|
|
# @class Copter
|
|
|
|
|
#
|
|
|
|
|
# @maintainer Beat Kueng <beat-kueng@gmx.net>
|
|
|
|
|
#
|
|
|
|
|
# @board px4_fmu-v2 exclude
|
|
|
|
|
# @board intel_aerofc-v1 exclude
|
|
|
|
|
# @board bitcraze_crazyflie exclude
|
|
|
|
|
#
|
|
|
|
|
|
|
|
|
|
. ${R}etc/init.d/rc.mc_defaults
|
|
|
|
|
|
|
|
|
|
set MIXER quad_x
|
|
|
|
|
set PWM_OUT 1234
|
|
|
|
|
|
|
|
|
|
if [ $AUTOCNF = yes ]
|
|
|
|
|
then
|
|
|
|
|
# The set does not include a battery, but most people will probably use 4S
|
|
|
|
|
param set BAT_N_CELLS 4
|
|
|
|
|
|
|
|
|
|
param set IMU_GYRO_CUTOFF 120
|
|
|
|
|
param set IMU_DGYRO_CUTOFF 45
|
|
|
|
|
|
|
|
|
|
param set MC_AIRMODE 1
|
|
|
|
|
param set MC_PITCHRATE_D 0.0012
|
|
|
|
|
param set MC_PITCHRATE_I 0.35
|
|
|
|
|
param set MC_PITCHRATE_MAX 1200
|
|
|
|
|
param set MC_PITCHRATE_P 0.082
|
|
|
|
|
param set MC_PITCH_P 8
|
|
|
|
|
param set MC_ROLLRATE_D 0.0012
|
|
|
|
|
param set MC_ROLLRATE_I 0.3
|
|
|
|
|
param set MC_ROLLRATE_MAX 1200
|
|
|
|
|
param set MC_ROLLRATE_P 0.076
|
|
|
|
|
param set MC_ROLL_P 8
|
|
|
|
|
param set MC_YAWRATE_I 0.3
|
|
|
|
|
param set MC_YAWRATE_MAX 600
|
|
|
|
|
param set MC_YAWRATE_P 0.25
|
|
|
|
|
param set MC_YAW_P 4
|
|
|
|
|
|
|
|
|
|
param set MPC_MANTHR_MIN 0
|
|
|
|
|
param set MPC_MAN_TILT_MAX 60
|
|
|
|
|
param set MPC_THR_CURVE 1
|
|
|
|
|
param set MPC_THR_HOVER 0.25
|
|
|
|
|
param set MPC_THR_MIN 0.05
|
|
|
|
|
param set MPC_Z_VEL_I_ACC 1.7
|
|
|
|
|
|
|
|
|
|
param set PWM_MAX 1950
|
|
|
|
|
param set PWM_MIN 1050
|
|
|
|
|
|
|
|
|
|
param set PWM_RATE 0
|
|
|
|
|
param set THR_MDL_FAC 0.3
|
|
|
|
|
fi
|
|
|
|
|
|
