|
|
|
|
#!nsh
|
|
|
|
|
|
|
|
|
|
# Maintainers: Anton Babushkin <anton.babushkin@me.com>
|
|
|
|
|
|
|
|
|
|
echo "[init] Team Blacksheep Discovery Quad"
|
|
|
|
|
|
|
|
|
|
if [ $DO_AUTOCONFIG == yes ]
|
|
|
|
|
then
|
|
|
|
|
#
|
|
|
|
|
# Default parameters for this platform
|
|
|
|
|
#
|
|
|
|
|
param set MC_ATT_P 5.0
|
|
|
|
|
param set MC_ATT_I 0.0
|
|
|
|
|
param set MC_ATT_D 0.0
|
|
|
|
|
param set MC_ATTRATE_P 0.17
|
|
|
|
|
param set MC_ATTRATE_I 0.0
|
|
|
|
|
param set MC_ATTRATE_D 0.006
|
|
|
|
|
param set MC_YAWPOS_P 0.5
|
|
|
|
|
param set MC_YAWPOS_I 0.15
|
|
|
|
|
param set MC_YAWPOS_D 0.0
|
|
|
|
|
param set MC_YAWRATE_P 0.2
|
|
|
|
|
param set MC_YAWRATE_I 0.0
|
|
|
|
|
param set MC_YAWRATE_D 0.0
|
|
|
|
|
fi
|
|
|
|
|
|
|
|
|
|
set FRAME_TYPE mc
|
|
|
|
|
set FRAME_GEOMETRY quad_w
|
|
|
|
|
set PWM_RATE 400
|
|
|
|
|
set PWM_DISARMED 900
|
|
|
|
|
set PWM_MIN 1100
|
|
|
|
|
set PWM_MAX 1900
|
