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43 lines
877 B
43 lines
877 B
#!nsh |
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set VEHICLE_TYPE vtol |
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if [ $AUTOCNF == yes ] |
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then |
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param set MC_ROLL_P 6.0 |
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param set MC_PITCH_P 6.0 |
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param set MC_YAW_P 4 |
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# |
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# Default parameters for mission and position handling |
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# |
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param set NAV_ACC_RAD 3 |
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param set MPC_TKO_SPEED 1.0 |
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param set MPC_LAND_SPEED 0.7 |
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param set MPC_Z_VEL_MAX_DN 1.5 |
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param set MPC_XY_VEL_MAX 4.0 |
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param set MIS_YAW_TMT 10 |
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param set MPC_ACC_HOR_MAX 2.0 |
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param set RTL_LAND_DELAY 0 |
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fi |
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# set environment variables (!= parameters) |
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set PWM_RATE 400 |
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# tell the mixer to use parameters for these instead |
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set PWM_DISARMED p:PWM_DISARMED |
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set PWM_MIN p:PWM_MIN |
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set PWM_MAX p:PWM_MAX |
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# Transitional support: ensure suitable PWM min/max param values |
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if param compare PWM_MIN 1000 |
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then |
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param set PWM_MIN 1075 |
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fi |
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if param compare PWM_MAX 2000 |
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then |
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param set PWM_MAX 1950 |
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fi |
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if param compare PWM_DISARMED 0 |
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then |
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param set PWM_DISARMED 900 |
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fi
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