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55 lines
1.1 KiB
55 lines
1.1 KiB
#!nsh |
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# |
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# @name ZMR250 Racer |
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# |
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# @type Quadrotor x |
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# |
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# @output AUX1 feed-through of RC AUX1 channel |
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# @output AUX2 feed-through of RC AUX2 channel |
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# |
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# @maintainer Anton Matosov <anton.matosov@gmail.com> |
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# |
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sh /etc/init.d/rc.mc_defaults |
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set MIXER zmr250 |
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set PWM_OUT 1234 |
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if [ $AUTOCNF == yes ] |
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then |
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param set MC_ROLL_P 2.0 |
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param set MC_ROLLRATE_P 0.05 |
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param set MC_ROLLRATE_I 0.2 |
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param set MC_ROLLRATE_D 0.0015 |
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param set MC_ROLL_TC 0.18 |
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param set MC_PITCH_P 2.0 |
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param set MC_PITCHRATE_P 0.05 |
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param set MC_PITCHRATE_I 0.2 |
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param set MC_PITCHRATE_D 0.0015 |
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param set MC_PITCH_TC 0.18 |
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param set MC_YAW_P 1.0 |
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param set MC_YAWRATE_P 0.15 |
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param set MC_YAWRATE_I 0.2 |
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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_ACRO_R_MAX 1080.0 |
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param set MC_ACRO_P_MAX 1080.0 |
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param set MC_ACRO_Y_MAX 1080.0 |
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param set MC_TPA_BREAK_P 0.5 |
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param set MC_TPA_BREAK_D 0.7 |
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param set MC_TPA_RATE_P 0.5 |
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param set MC_TPA_RATE_D 0.5 |
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param set PWM_MIN 1075 |
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param set PWM_RATE 400 |
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param set PWM_DISARMED 900 |
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param set FAILSAFE 100 |
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# param set NAV_RCL_ACT 6 # Lockdown |
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param set CBRK_IO_SAFETY 22027 |
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fi
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