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.
84 lines
1.8 KiB
84 lines
1.8 KiB
#!/bin/sh |
|
# |
|
# @name BabyShark VTOL |
|
# |
|
# @type Standard VTOL |
|
# @class VTOL |
|
# |
|
# @maintainer Silvan Fuhrer <silvan@auterion.com> |
|
# |
|
# @output MAIN1 Ailerons |
|
# @output MAIN2 A-tail left |
|
# @output MAIN3 Pusher motor |
|
# @output MAIN4 A-tail right |
|
# @output MAIN5 motor 1 |
|
# @output MAIN6 motor 2 |
|
# @output MAIN7 motor 3 |
|
# @output MAIN8 motor 4 |
|
|
|
sh /etc/init.d/rc.vtol_defaults |
|
|
|
if [ $AUTOCNF = yes ] |
|
then |
|
param set FW_AIRSPD_MAX 28 |
|
param set FW_AIRSPD_MIN 17 |
|
param set FW_AIRSPD_TRIM 23 |
|
param set FW_CLMBOUT_DIFF 0.1 |
|
param set FW_L1_R_SLEW_MAX 40 |
|
param set FW_LND_EARLYCFG 1 |
|
param set FW_P_LIM_MAX 25 |
|
param set FW_P_LIM_MIN -25 |
|
param set FW_R_LIM 35 |
|
param set FW_THR_CRUISE 0.7 |
|
param set FW_THR_MIN 0.25 |
|
param set FW_THR_SLEW_MAX 0.6 |
|
param set FW_T_HRATE_FF 0 |
|
|
|
param set IMU_GYRO_CUTOFF 40 |
|
|
|
param set MC_DTERM_CUTOFF 15 |
|
param set MC_PITCHRATE_MAX 60 |
|
param set MC_ROLLRATE_MAX 60 |
|
param set MC_YAWRATE_I 0.15 |
|
param set MC_YAWRATE_MAX 40 |
|
param set MC_YAWRATE_P 0.3 |
|
param set MC_YAWRAUTO_MAX 40 |
|
|
|
param set MPC_MAN_TILT_MAX 25 |
|
param set MPC_MAN_Y_MAX 40 |
|
param set MPC_SPOOLUP_TIME 2 |
|
param set MPC_THR_HOVER 0.45 |
|
param set MPC_TILTMAX_AIR 25 |
|
param set MPC_TKO_RAMP_T0.8 |
|
param set MPC_VEL_MANUAL 3 |
|
param set MPC_XY_VEL_MAX 3.5 |
|
param set MPC_Z_VEL_MAX_UP 2 |
|
|
|
param set PWM_MAIN_DIS3 1000 |
|
param set PWM_MAIN_MIN3 1120 |
|
param set PWM_MIN 950 |
|
|
|
param set V19_VT_ROLLDIR 0 |
|
|
|
param set VT_ARSP_TRANS 19 |
|
param set VT_B_TRANS_DUR 9 |
|
param set VT_ELEV_MC_LOCK 0 |
|
param set VT_FWD_THRUST_SC 1.2 |
|
param set VT_FW_MOT_OFFID 5678 |
|
param set VT_F_TRANS_DUR 8 |
|
param set VT_F_TRANS_THR 0.85 |
|
param set VT_F_TR_OL_TM 7 |
|
param set VT_IDLE_PWM_MC 1000 |
|
param set VT_MOT_COUNT 8 |
|
param set VT_PSHER_RMP_DT 2 |
|
param set VT_TRANS_MIN_TM 6 |
|
param set VT_TYPE 2 |
|
|
|
fi |
|
|
|
set MAV_TYPE 22 |
|
|
|
set MIXER babyshark |
|
set MIXER_AUX pass |
|
|
|
set PWM_OUT 5678
|
|
|