You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
49 lines
1.0 KiB
49 lines
1.0 KiB
#!nsh |
|
# |
|
# Team Blacksheep Discovery Quadcopter |
|
# |
|
# Maintainers: Simon Wilks <sjwilks@gmail.com> |
|
# |
|
|
|
if [ $DO_AUTOCONFIG == yes ] |
|
then |
|
# |
|
# Default parameters for this platform |
|
# |
|
param set MC_ROLL_P 5.0 |
|
param set MC_ROLLRATE_P 0.17 |
|
param set MC_ROLLRATE_I 0.0 |
|
param set MC_ROLLRATE_D 0.006 |
|
param set MC_PITCH_P 5.0 |
|
param set MC_PITCHRATE_P 0.17 |
|
param set MC_PITCHRATE_I 0.0 |
|
param set MC_PITCHRATE_D 0.006 |
|
param set MC_YAW_P 0.5 |
|
param set MC_YAWRATE_P 0.2 |
|
param set MC_YAWRATE_I 0.0 |
|
param set MC_YAWRATE_D 0.0 |
|
|
|
param set MPC_THR_MAX 1.0 |
|
param set MPC_THR_MIN 0.1 |
|
param set MPC_XY_P 1.0 |
|
param set MPC_XY_VEL_P 0.1 |
|
param set MPC_XY_VEL_I 0.02 |
|
param set MPC_XY_VEL_D 0.01 |
|
param set MPC_XY_VEL_MAX 5 |
|
param set MPC_XY_FF 0.5 |
|
param set MPC_Z_P 1.0 |
|
param set MPC_Z_VEL_P 0.1 |
|
param set MPC_Z_VEL_I 0.02 |
|
param set MPC_Z_VEL_D 0.0 |
|
param set MPC_Z_VEL_MAX 3 |
|
param set MPC_Z_FF 0.5 |
|
param set MPC_TILT_MAX 1.0 |
|
param set MPC_LAND_SPEED 1.0 |
|
param set MPC_LAND_TILT 0.3 |
|
fi |
|
|
|
set VEHICLE_TYPE mc |
|
set MIXER FMU_quad_w |
|
|
|
set PWM_OUTPUTS 1234 |
|
set PWM_RATE 400
|
|
|