diff --git a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x new file mode 100644 index 0000000000..fcc9c3c9bb --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x @@ -0,0 +1,59 @@ +#!nsh +# +# @name BetaFPV Beta75X 2S Brushless Whoop +# +# @type Quadrotor H +# @class Copter +# +# @output MAIN1 motor 1 +# @output MAIN2 motor 2 +# @output MAIN3 motor 3 +# @output MAIN4 motor 4 +# +# @maintainer Beat Kueng +# + +sh /etc/init.d/rc.mc_defaults + +if [ $AUTOCNF = yes ] +then + param set CBRK_SUPPLY_CHK 894281 + param set CBRK_USB_CHK 197848 + + param set IMU_GYRO_CUTOFF 100 + param set MC_DTERM_CUTOFF 60 + + param set MC_AIRMODE 2 + param set MC_PITCHRATE_D 0.0010 + param set MC_PITCHRATE_I 0.5 + param set MC_PITCHRATE_MAX 600 + param set MC_PITCHRATE_P 0.0750 + param set MC_PITCH_P 6 + param set MC_ROLLRATE_D 0.0010 + param set MC_ROLLRATE_I 0.4 + param set MC_ROLLRATE_MAX 600 + param set MC_ROLLRATE_P 0.0750 + param set MC_YAWRATE_I 0.3 + param set MC_YAWRATE_MAX 400 + param set MC_YAWRATE_P 0.17 + param set MC_YAW_P 4 + + param set MPC_MANTHR_MIN 0 + param set MPC_MAN_TILT_MAX 60 + + param set MOT_ORDERING 1 + param set PWM_DISARMED 950 + param set PWM_MAX 1900 + param set PWM_MIN 1100 + param set PWM_RATE 0 + + param set RC_FLT_CUTOFF 0 + + param set SYS_HAS_BARO 0 + param set SYS_HAS_MAG 0 +fi + +# The Whoop uses reversed props +set MIXER quad_h +set PWM_OUT 1234 + diff --git a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt index c7b4b8e295..7837d19c48 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt +++ b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt @@ -72,6 +72,7 @@ px4_add_romfs_files( 4030_3dr_solo 4031_3dr_quad 4040_reaper + 4041_beta75x 4050_generic_250 4051_s250aq 4060_dji_matrice_100