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42 lines
773 B
42 lines
773 B
9 years ago
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#!nsh
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#
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# @name Steadidrone MAVRIK
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#
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# @type Octo Coax Wide
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#
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# @maintainer Simon Wilks <simon@uaventure.com>
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#
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sh /etc/init.d/rc.mc_defaults
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if [ $AUTOCNF == yes ]
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then
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param set MC_PITCH_P 4.0
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param set MC_PITCHRATE_P 0.24
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param set MC_PITCHRATE_I 0.09
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param set MC_PITCHRATE_D 0.013
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param set MC_PITCHRATE_MAX 180.0
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param set MC_ROLL_P 4.0
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param set MC_ROLLRATE_P 0.16
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param set MC_ROLLRATE_I 0.07
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param set MC_ROLLRATE_D 0.009
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param set MC_ROLLRATE_MAX 180.0
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param set MC_YAW_P 3.0
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param set MC_YAWRATE_P 0.2
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param set MC_YAWRATE_I 0.1
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param set MC_YAWRATE_D 0.0
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param set MC_YAW_FF 0.5
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param set MPC_HOLD_MAX_XY 0.25
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param set MPC_THR_MIN 0.15
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param set MPC_Z_VEL_MAX 2.0
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param set BAT_N_CELLS 4
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fi
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set MIXER octo_cox_w
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set PWM_OUT 12345678
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