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.
175 lines
3.8 KiB
175 lines
3.8 KiB
6 years ago
|
#!nsh
|
||
|
|
#
|
||
|
|
# @name Teal One
|
||
|
|
#
|
||
|
|
# @type Quadrotor x
|
||
|
|
# @class Copter
|
||
|
|
#
|
||
6 years ago
|
# @board px4_fmu-v2 exclude
|
||
|
|
# @board px4_fmu-v3 exclude
|
||
|
|
# @board px4_fmu-v4pro exclude
|
||
|
|
# @board px4_fmu-v5 exclude
|
||
|
6 years ago
|
#
|
||
|
|
# @output MAIN1 motor 1
|
||
|
|
# @output MAIN2 motor 2
|
||
|
|
# @output MAIN3 motor 3
|
||
|
|
# @output MAIN4 motor 4
|
||
|
|
#
|
||
|
|
# @maintainer Jacob Dahl <jacob.dahl@tealdrones.com>
|
||
|
|
# @maintainer Alex Klimaj <alex.klimaj@tealdrones.com>
|
||
|
|
#
|
||
|
|
|
||
|
|
echo "Executing 4250_teal script."
|
||
|
|
|
||
|
|
sh /etc/init.d/4001_quad_x
|
||
|
|
set MIXER_AUX none
|
||
|
|
|
||
|
|
if [ $AUTOCNF = yes ]
|
||
|
|
then
|
||
|
|
# battery
|
||
|
|
param set BAT_CAPACITY 2750
|
||
|
|
param set BAT_CRIT_THR 0.15
|
||
|
|
param set BAT_EMERGEN_THR 0.075
|
||
|
|
param set BAT_LOW_THR 0.20
|
||
|
|
param set BAT_N_CELLS 4
|
||
|
|
param set BAT_R_INTERNAL 0.06
|
||
|
|
param set BAT_SOURCE 1
|
||
|
|
param set BAT_V_CHARGED 4.15
|
||
|
|
param set BAT_V_DIV 11.1625
|
||
|
|
param set BAT_V_EMPTY 3.65
|
||
|
|
param set BAT_V_OFFS_CURR -0.0045
|
||
|
|
|
||
|
|
# primary accel
|
||
|
|
param set CAL_ACC_PRIME 1442826 #mpu6500
|
||
|
|
#param set CAL_ACC_PRIME 1445386 #mpu9250
|
||
|
|
|
||
|
|
# primary gyro
|
||
|
|
param set CAL_GYRO_PRIME 2360330 #mpu6500
|
||
|
|
#param set CAL_GYRO_PRIME 2362890 #mpu9250
|
||
|
|
|
||
|
|
#primary Mag
|
||
|
|
#param set CAL_MAG_PRIME 265738 #mpu9250
|
||
|
|
|
||
|
|
# sensor calibration
|
||
|
|
param set CAL_MAG0_ROT 0
|
||
|
|
param set CAL_MAG_SIDES 63
|
||
|
|
param set SENS_BOARD_ROT 0
|
||
|
|
param set COM_ARM_MAG 1.5
|
||
|
|
param set COM_ARM_EKF_AB 0.0032
|
||
|
|
|
||
|
|
# circuit breakers
|
||
|
|
param set CBRK_IO_SAFETY 22027
|
||
|
|
param set CBRK_USB_CHK 197848
|
||
|
|
|
||
|
|
# commander
|
||
|
|
param set COM_DISARM_LAND 1
|
||
|
|
param set COM_LOW_BAT_ACT 3
|
||
|
|
param set COM_LOSS_LTR_T 20
|
||
|
|
|
||
|
|
# ekf2
|
||
|
|
param set EKF2_AID_MASK 1
|
||
|
|
param set EKF2_GPS_CHECK 511
|
||
|
|
param set EKF2_GPS_POS_X -0.04
|
||
|
|
param set EKF2_IMU_POS_X -0.06
|
||
|
|
param set EKF2_MIN_RNG 0.07
|
||
|
|
param set EKF2_PCOEF_XN 0.1
|
||
|
|
param set EKF2_PCOEF_XP -0.5
|
||
|
|
param set EKF2_RNG_AID 1
|
||
|
|
param set EKF2_RNG_A_VMAX 20.0
|
||
|
|
param set EKF2_RNG_NOISE 0.2
|
||
|
|
|
||
|
|
# gps
|
||
|
|
param set GPS_UBX_DYNMODEL 7
|
||
|
|
|
||
|
|
# geofence
|
||
|
|
param set GF_ACTION 1
|
||
|
|
|
||
|
|
# land detector
|
||
|
|
param set LNDMC_THR_RANGE 0.50
|
||
|
|
param set LNDMC_XY_VEL_MAX 1.0
|
||
|
|
param set LNDMC_ROT_MAX 50.0
|
||
|
|
|
||
|
|
# mavlink stream configuration
|
||
|
|
param set MAV_1_CONFIG 102
|
||
|
|
param set MAV_1_RATE 20000
|
||
|
|
|
||
|
|
# mc_att_control
|
||
|
|
param set MC_ACRO_P_MAX 360.0
|
||
|
|
param set MC_ACRO_R_MAX 360.0
|
||
|
|
param set MC_ACRO_Y_MAX 360.0
|
||
|
|
|
||
|
|
param set MC_ROLL_P 6.0
|
||
|
|
param set MC_ROLLRATE_P 0.055
|
||
|
|
param set MC_ROLLRATE_I 0.2
|
||
|
|
param set MC_ROLLRATE_D 0.0012
|
||
|
|
param set MC_ROLLRATE_MAX 180.0
|
||
|
|
|
||
|
|
param set MC_PITCHRATE_P 0.06
|
||
|
|
param set MC_PITCHRATE_I 0.2
|
||
|
|
param set MC_PITCHRATE_D 0.0012
|
||
|
|
param set MC_PITCHRATE_MAX 180.0
|
||
|
|
|
||
|
|
param set MC_YAW_P 1.0
|
||
|
|
param set MC_YAWRATE_P 0.08
|
||
|
|
param set MC_YAWRATE_I 0.08
|
||
|
|
param set MC_YAWRATE_D 0.0
|
||
|
|
param set MC_YAWRATE_MAX 180.0
|
||
|
|
|
||
|
|
param set MOT_SLEW_MAX 0.15
|
||
|
|
|
||
|
|
# mc_pos_control
|
||
|
|
param set MPC_ACC_DOWN_MAX 10.0
|
||
|
|
param set MPC_ACC_HOR 10.0
|
||
|
|
param set MPC_ACC_HOR_MAX 15.0
|
||
|
|
param set MPC_ACC_UP_MAX 10.0
|
||
|
|
param set MPC_JERK_MAX 5.0
|
||
|
|
param set MPC_LAND_ALT1 8.0
|
||
|
|
param set MPC_LAND_ALT2 5.0
|
||
|
|
param set MPC_MANTHR_MAX 0.85
|
||
|
|
param set MPC_MANTHR_MIN 0.15
|
||
|
|
param set MPC_MAN_TILT_MAX 45.0
|
||
|
|
param set MPC_MAN_Y_MAX 200.0
|
||
|
|
param set MPC_THR_MAX 0.85
|
||
|
|
param set MPC_THR_MIN 0.15
|
||
|
|
param set MPC_TILTMAX_AIR 45.0
|
||
|
|
param set MPC_TKO_RAMP_T 0.75
|
||
|
|
param set MPC_TKO_SPEED 0.75
|
||
|
|
param set MPC_VEL_MANUAL 26.5
|
||
|
|
param set MPC_XY_CRUISE 15.0
|
||
|
|
param set MPC_XY_P 1.15
|
||
|
|
param set MPC_XY_VEL_P 0.14
|
||
|
|
param set MPC_XY_VEL_I 0.014
|
||
|
|
param set MPC_XY_VEL_D 0.014
|
||
|
|
param set MPC_XY_VEL_MAX 26.5
|
||
|
|
param set MPC_Z_P 0.8
|
||
|
|
param set MPC_TILTMAX_LND 18.0
|
||
|
|
|
||
|
|
param set MPC_Z_VEL_D 0.02
|
||
|
|
param set MPC_Z_VEL_MAX_DN 2.5
|
||
|
|
param set MPC_Z_VEL_MAX_UP 6.0
|
||
|
|
|
||
|
|
# navigator
|
||
|
|
param set NAV_ACC_RAD 2.5
|
||
|
|
param set NAV_RCL_ACT 1
|
||
|
|
|
||
|
|
# pwm control
|
||
|
|
param set PWM_DISARMED 900
|
||
|
|
param set PWM_MAX 1850
|
||
|
|
param set PWM_MIN 1075
|
||
|
|
param set PWM_RATE 400
|
||
|
|
|
||
|
|
# rtl
|
||
|
|
param set RTL_DESCEND_ALT 5
|
||
|
|
param set RTL_LAND_DELAY 5
|
||
|
|
param set RTL_MIN_DIST 7.5
|
||
|
|
param set RTL_RETURN_ALT 25
|
||
|
|
|
||
|
|
# sensors
|
||
|
|
param set SENS_EN_PGA460 1
|
||
|
|
param set SENS_EN_THERMAL 1
|
||
|
|
|
||
|
|
# serial comms
|
||
|
|
param set SER_TEL2_BAUD 921600
|
||
|
|
|
||
|
|
fi
|