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91 lines
1.9 KiB
91 lines
1.9 KiB
#!nsh |
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# |
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# @name Modified Parrot Disco |
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# |
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# @url |
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# |
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# @type Flying Wing |
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# @class Plane |
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# |
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# @output MAIN1 left aileron |
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# @output MAIN2 right aileron |
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# @output MAIN4 throttle |
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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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# @output AUX3 feed-through of RC AUX3 channel |
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# |
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# @maintainer Jan Liphardt <JTLiphardt@gmail.com> |
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# |
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sh /etc/init.d/rc.fw_defaults |
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if [ $AUTOCNF == yes ] |
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then |
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#################################### |
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# Airspeed |
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#################################### |
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param set FW_AIRSPD_MIN 15 # = 29 knots |
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param set FW_AIRSPD_TRIM 20 # = 39 knots |
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param set FW_AIRSPD_MAX 27 # = 52 knots |
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#################################### |
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# The Main L1 Controller |
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#################################### |
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param set FW_L1_PERIOD 20 #units of meters |
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#Damping factor for L1 control (def = 0.75) |
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param set FW_L1_DAMPING 0.75 |
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#################################### |
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# Pitch |
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#################################### |
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# Basic limits (def = +/- 45 deg) |
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param set FW_P_LIM_MAX 45 |
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param set FW_P_LIM_MIN -45 |
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# Time Constant (def = 0.4s) |
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param set FW_P_TC 0.4 |
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# Pitch rate feed forward (def = 0.5 %/rad/sec) |
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param set FW_PR_FF 0.35 |
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# Pitch rate integrator limit (def = 0.4) |
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param set FW_PR_IMAX 0.4 |
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# Pitch rate proportional gain (def = 0.08 %/rad/sec) |
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param set FW_PR_P 0.08 |
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#################################### |
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# Roll |
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#################################### |
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# Basic limits (def = 50 deg) |
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param set FW_R_LIM 40 |
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# Roll rate upper limit (def = 70 deg/s) |
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param set FW_R_RMAX 50 |
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# Roll Time Constant (def = 0.4 s) |
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param set FW_R_TC 0.4 |
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# Roll rate feed forward (def = 0.5 %/rad/sec) |
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param set FW_RR_FF 0.5 |
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# Roll rate proportional Gain (def = 0.05 %/rad/sec) |
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param set FW_RR_P 0.05 |
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# Roll Integrator Anti-Windup |
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param set FW_RR_IMAX 0.2 |
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fi |
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set MIXER fw_generic_wing.main.mix |
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# Provide ESC a constant 1000 us pulse |
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set PWM_OUT 4 |
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set PWM_DISARMED 1000
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