|
|
|
|
#!nsh
|
|
|
|
|
#
|
|
|
|
|
# @name DeltaQuad
|
|
|
|
|
#
|
|
|
|
|
# @type Standard VTOL
|
|
|
|
|
# @class VTOL
|
|
|
|
|
#
|
|
|
|
|
# @maintainer Sander Smeets <sander@droneslab.com>
|
|
|
|
|
#
|
|
|
|
|
# @output MAIN1 motor 1
|
|
|
|
|
# @output MAIN2 motor 2
|
|
|
|
|
# @output MAIN3 motor 3
|
|
|
|
|
# @output MAIN4 motor 4
|
|
|
|
|
# @output MAIN5 Right elevon
|
|
|
|
|
# @output MAIN6 Left elevon
|
|
|
|
|
# @output MAIN7 Pusher motor
|
|
|
|
|
# @output MAIN8 Pusher reverse channel
|
|
|
|
|
#
|
|
|
|
|
|
|
|
|
|
sh /etc/init.d/rc.vtol_defaults
|
|
|
|
|
|
|
|
|
|
if [ $AUTOCNF == yes ]
|
|
|
|
|
then
|
|
|
|
|
param set VT_TYPE 2
|
|
|
|
|
param set VT_MOT_COUNT 4
|
|
|
|
|
param set VT_F_TRANS_THR 1
|
|
|
|
|
param set VT_DWN_PITCH_MAX 8
|
|
|
|
|
param set VT_FW_QC_P 55
|
|
|
|
|
param set VT_FW_QC_R 55
|
|
|
|
|
param set VT_TRANS_MIN_TM 8
|
|
|
|
|
param set VT_B_TRANS_DUR 5
|
|
|
|
|
param set VT_WV_LND_EN 1
|
|
|
|
|
param set VT_WV_LTR_EN 1
|
|
|
|
|
param set VT_FWD_THRUST_SC 2
|
|
|
|
|
param set VT_F_TRANS_DUR 1
|
|
|
|
|
param set VT_IDLE_PWM_MC 1025
|
|
|
|
|
|
|
|
|
|
param set FW_ARSP_MODE 2
|
|
|
|
|
param set FW_L1_PERIOD 25
|
|
|
|
|
param set FW_PR_FF 0.7
|
|
|
|
|
param set FW_PR_I 0.18
|
|
|
|
|
param set FW_PR_P 0.15
|
|
|
|
|
param set FW_P_TC 0.5
|
|
|
|
|
param set FW_PSP_OFF 5
|
|
|
|
|
param set FW_R_LIM 35
|
|
|
|
|
param set FW_RR_FF 0.9
|
|
|
|
|
param set FW_RR_I 0.08
|
|
|
|
|
param set FW_RR_P 0.18
|
|
|
|
|
param set FW_T_HRATE_FF 0.5
|
|
|
|
|
param set FW_T_CLMB_MAX 3
|
|
|
|
|
param set FW_T_SINK_MAX 3
|
|
|
|
|
param set FW_T_SINK_MIN 1
|
|
|
|
|
param set FW_T_VERT_ACC 6
|
|
|
|
|
param set FW_THR_CRUISE 0.68
|
|
|
|
|
param set FW_THR_SLEW_MAX 1
|
|
|
|
|
param set FW_MAN_P_MAX 30
|
|
|
|
|
param set FW_P_LIM_MAX 20
|
|
|
|
|
param set FW_P_LIM_MIN -25
|
|
|
|
|
param set FW_P_RMAX_NEG 45
|
|
|
|
|
param set FW_P_RMAX_POS 45
|
|
|
|
|
param set FW_R_RMAX 50
|
|
|
|
|
|
|
|
|
|
param set LNDMC_ALT_MAX 9999
|
|
|
|
|
param set LNDMC_XY_VEL_MAX 1
|
|
|
|
|
param set LNDMC_Z_VEL_MAX 0.7
|
|
|
|
|
|
|
|
|
|
param set MC_ROLL_P 6.5
|
|
|
|
|
param set MC_ROLLRATE_P 0.16
|
|
|
|
|
param set MC_ROLLRATE_I 0.01
|
|
|
|
|
param set MC_ROLLRATE_D 0.003
|
|
|
|
|
param set MC_ROLLRATE_FF 0.0
|
|
|
|
|
param set MC_ROLLRATE_MAX 80
|
|
|
|
|
param set MC_PITCH_P 6.5
|
|
|
|
|
param set MC_PITCHRATE_P 0.15
|
|
|
|
|
param set MC_PITCHRATE_I 0.05
|
|
|
|
|
param set MC_PITCHRATE_D 0.003
|
|
|
|
|
param set MC_PITCHRATE_FF 0.0
|
|
|
|
|
param set MC_PITCHRATE_MAX 80
|
|
|
|
|
param set MC_YAW_P 3.5
|
|
|
|
|
param set MC_YAW_FF 0.5
|
|
|
|
|
param set MC_YAWRATE_P 0.2
|
|
|
|
|
param set MC_YAWRATE_I 0.1
|
|
|
|
|
param set MC_YAWRATE_D 0.0
|
|
|
|
|
param set MC_YAWRATE_FF 0.0
|
|
|
|
|
param set MC_YAWRATE_MAX 20
|
|
|
|
|
param set MC_YAWRAUTO_MAX 20
|
|
|
|
|
|
|
|
|
|
param set MPC_XY_P 0.8
|
|
|
|
|
param set MPC_XY_VEL_P 0.1
|
|
|
|
|
param set MPC_XY_VEL_MAX 4
|
|
|
|
|
param set MPC_ACC_HOR_MAX 2.0
|
|
|
|
|
param set MPC_LAND_SPEED 1.5
|
|
|
|
|
param set MPC_MAN_R_MAX 30
|
|
|
|
|
param set MPC_TILTMAX_LND 35
|
|
|
|
|
param set MPC_Z_VEL_MAX 1.5
|
|
|
|
|
param set MPC_Z_VEL_MAX_UP 1.5
|
|
|
|
|
param set MPC_Z_VEL_MAX_DN 1.5
|
|
|
|
|
param set MPC_HOLD_MAX_XY 0.5
|
|
|
|
|
param set MPC_HOLD_MAX_Z 0.5
|
|
|
|
|
|
|
|
|
|
param set CBRK_AIRSPD_CHK 162128
|
|
|
|
|
param set CBRK_IO_SAFETY 22027
|
|
|
|
|
|
|
|
|
|
param set EKF2_GPS_POS_X -0.12
|
|
|
|
|
param set EKF2_IMU_POS_X -0.12
|
|
|
|
|
param set EKF2_TAU_VEL 0.5
|
|
|
|
|
|
|
|
|
|
param set SYS_COMPANION 57600
|
|
|
|
|
fi
|
|
|
|
|
|
|
|
|
|
set MIXER deltaquad
|
|
|
|
|
set PWM_OUT 1234
|
|
|
|
|
set PWM_RATE 400
|
|
|
|
|
|
|
|
|
|
param set PWM_MAIN_DIS5 1500
|
|
|
|
|
param set PWM_MAIN_DIS6 1500
|
|
|
|
|
param set PWM_MAIN_DIS7 900
|
|
|
|
|
param set PWM_MAIN_DIS8 900
|
|
|
|
|
|
|
|
|
|
set MIXER_AUX pass
|
|
|
|
|
set PWM_AUX_OUT 12345
|
|
|
|
|
set PWM_AUX_DISARMED 950
|
|
|
|
|
|
|
|
|
|
set MAV_TYPE 22
|
