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128 lines
2.9 KiB
128 lines
2.9 KiB
#!/bin/sh |
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# |
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# @name UVify IFO |
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# |
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# @type Quadrotor 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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# |
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# @maintainer Hyon Lim <lim@uvify.com> |
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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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# @board bitcraze_crazyflie exclude |
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# |
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set VEHICLE_TYPE mc |
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set MIXER quad_x |
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set PWM_OUT 1234 |
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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 7.00000 |
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param set MC_ROLLRATE_P 0.15000 |
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#param set MC_ROLLRATE_I 0.90000 |
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param set MC_ROLLRATE_D 0.00130 |
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#param set MC_PITCH_P 7.00000 |
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param set MC_PITCHRATE_P 0.15000 |
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#param set MC_PITCHRATE_I 1.10000 |
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param set MC_PITCHRATE_D 0.00160 |
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param set MC_YAW_P 2.8 |
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param set MC_YAWRATE_P 0.2 |
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#param set MC_YAWRATE_I 0.15 |
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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 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 MC_PITCHRATE_MAX 1600.00000 |
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#param set MC_ROLLRATE_MAX 1600.00000 |
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#param set MC_YAWRATE_MAX 700.00000 |
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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 20.0000 |
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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 IMU_DGYRO_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_RATE 0 |
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#param set SYS_FMU_TASK 1 |
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param set SENS_BOARD_ROT 10 |
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# EKF2 |
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param set EKF2_GND_EFF_DZ 6.0 |
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param set EKF2_HGT_MODE 1 |
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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_HOVER 0.3000 |
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param set MIS_TAKEOFF_ALT 1.1000 |
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param set MPC_XY_P 1.7000 |
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param set MPC_XY_VEL_P 0.1300 |
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param set MPC_XY_VEL_I 0.0600 |
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param set MPC_XY_VEL_D 0.0100 |
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param set MPC_TKO_RAMP_T 1.0000 |
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param set MPC_TKO_SPEED 1.1000 |
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param set MPC_VEL_MANUAL 3.0000 |
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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 10.14 |
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param set BAT_A_PER_V 18.18 |
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#param set CBRK_IO_SAFETY 22027 |
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param set COM_ARM_EKF_AB 0.00500 |
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param set COM_DISARM_LAND 2 |
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# Filter settings |
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param set IMU_GYRO_CUTOFF 90.00000 |
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param set IMU_DGYRO_CUTOFF 70.00000 |
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# Don't try to be intelligent on RC loss: just cut the motors |
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param set NAV_RCL_ACT 6 |
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# enable to use high-rate logging for better rate tracking analysis |
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# param set SDLOG_PROFILE 19 |
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# TELEM1 ttyS1 - Wifi module |
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param set MAV_0_CONFIG 101 |
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param set MAV_0_RATE 0 |
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param set MAV_0_MODE 2 # onboard |
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param set SER_TEL1_BAUD 921600 |
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# TELEM2 ttyS2 - Sub 1-Ghz |
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param set MAV_1_CONFIG 102 |
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param set MAV_1_MODE 0 # normal |
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param set SER_TEL2_BAUD 57600 |
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fi
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