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178 lines
3.8 KiB
178 lines
3.8 KiB
6 years ago
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#!/bin/sh
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#
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# @name UVify Draco-R
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#
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# @type Hexarotor x
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# @class Copter
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#
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# @output MAIN1 motor 1
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# @output MAIN2 motor 2
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# @output MAIN3 motor 3
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# @output MAIN4 motor 4
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# @output MAIN5 motor 5
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# @output MAIN6 motor 6
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#
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# @board px4_fmu-v2 exclude
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# @board px4_fmu-v3 exclude
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# @board px4_fmu-v4pro exclude
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# @board px4_fmu-v5 exclude
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# @board px4_fmu-v5x exclude
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# @board intel_aerofc-v1 exclude
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#
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# @output AUX1 feed-through of RC AUX1 channel
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# @output AUX2 feed-through of RC AUX2 channel
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#
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# @maintainer Hyon Lim <lim@uvify.com>
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#
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set VEHICLE_TYPE mc
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set MIXER hexa_x
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set PWM_OUT 123456
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if [ $AUTOCNF = yes ]
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then
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# Attitude & rate gains
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param set MC_ROLL_P 6.50000
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param set MC_ROLLRATE_P 0.15000
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param set MC_ROLLRATE_I 0.05000
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param set MC_ROLLRATE_D 0.00130
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param set MC_PITCH_P 6.50000
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param set MC_PITCHRATE_P 0.15000
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param set MC_PITCHRATE_I 0.05000
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param set MC_PITCHRATE_D 0.00160
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param set MC_YAW_P 2.80000
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param set MC_YAWRATE_P 0.20000
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param set MC_YAWRATE_I 0.10000
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param set MC_YAWRATE_D 0.00000
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param set MC_YAW_FF 0.00000
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#param set MC_ROLL_TC 0.19
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#param set MC_PITCH_TC 0.16
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# Manual mode settings: Unleash Draco R's power :)
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param set MPC_MAN_TILT_MAX 70.00000
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param set MPC_MANTHR_MAX 0.90000
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param set MPC_MANTHR_MIN 0.08000
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param set MPC_MAN_TILT_MAX 35.0000
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param set MPC_TILTMAX_AIR 45.0000
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param set MPC_POS_MODE 2
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param set MPC_AUTO_MODE 1
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param set MPC_ACC_HOR 8.0000
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param set MC_PITCHRATE_MAX 800.00000
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param set MC_ROLLRATE_MAX 800.00000
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param set MC_YAWRATE_MAX 700.00000
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# Disable RC filtering
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param set RC_FLT_CUTOFF 0.00000
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# Filter settings
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param set MC_DTERM_CUTOFF 90.00000
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param set IMU_GYRO_CUTOFF 100.00000
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# Thrust curve (avoids the need for TPA)
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param set THR_MDL_FAC 0.25
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# System
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param set PWM_MAX 1950
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param set PWM_MIN 1100
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param set PWM_MAIN_DIS5 980
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param set PWM_MAIN_DIS6 980
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param set SYS_FMU_TASK 1
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param set SENS_BOARD_ROT 2
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param set COM_ARM_MAG 0.2000
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# Sensors
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param set SENS_EN_LL40LS 2
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param set SENS_FLOW_ROT 2
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# Position control
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param set MPC_Z_P 1.00000
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param set MPC_Z_VEL_P 0.20000
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param set MPC_Z_VEL_I 0.02000
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param set MPC_Z_VEL_D 0.00000
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param set MPC_THR_MIN 0.06000
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param set MPC_THR_MAX 0.40000
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param set MPC_THR_HOVER 0.3000
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param set MIS_TAKEOFF_ALT 1.1000
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param set MPC_XY_P 0.9500
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param set MPC_XY_VEL_P 0.0900
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param set MPC_XY_VEL_I 0.0200
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param set MPC_XY_VEL_D 0.0100
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param set MPC_TKO_RAMP_T 0.4000
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param set MPC_TKO_SPEED 1.5000
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param set MPC_VEL_MANUAL 10.0000
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# EKF
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# Set baro first
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param set EKF2_HGT_MODE 1
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# Enable optical flow and GPS
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param set EKF2_AID_MASK 1
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param set EKF2_RNG_AID 0
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param set EKF2_MAG_TYPE 1
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param set EKF2_OF_QMIN 80.0000
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#
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param set CBRK_IO_SAFETY 22027
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param set SYS_COMPANION 921600
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param set COM_DISARM_LAND 3
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#PWM
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# ONESHOT
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param set PWM_RATE 0
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# gimbal
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#param set MNT_DO_STAB 1
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#param set MNT_MAN_PITCH 1
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#param set MNT_MAN_ROLL 2
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#param set MNT_MODE_IN 1
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param set BAT_SOURCE 0
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param set BAT_N_CELLS 4
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param set BAT_V_DIV 10.133
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# TELEM1 ttyS1
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param set MAV_0_CONFIG 101
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param set MAV_0_MODE 1 # onboard
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param set MAV_0_FORWARD 1
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param set SER_TEL1_BAUD 57600
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# TELEM2 ttyS2
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param set MAV_1_CONFIG 102
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param set MAV_1_MODE 2
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param set MAV_1_RATE 800000
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param set MAV_1_FORWARD 1
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param set SER_TEL2_BAUD 921600
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fi
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#set PWM_OUT 12345678
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#set MIXER_AUX mount_2axes
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#set PWM_AUX_OUT 78
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#set PWM_AUX_RATE 50
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#set OUTPUT_AUX_DEV /dev/pwm_output0
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#set OUTPUT_AUX_TO_MAIN yes
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#set MIXER_APPEND yes
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#if mixer append /dev/pwm_output0 /etc/mixers/mount_2axes.aux.mix
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#then
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# echo "INFO [6002] Mixer append success"
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#else
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# echo "ERROR [6002] Mixer append failed"
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#fi
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#if pwm rate -c 78 -r 50 -d /dev/pwm_output0
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#then
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# echo "INFO [6002] PWM RATE CHANGE SUCCESS"
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#else
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# echo "INFO [6002] PWM RATE CHANGE FAILED"
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#fi
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