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65 lines
1.4 KiB
65 lines
1.4 KiB
#!nsh |
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# |
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# @name Coaxial Helicopter (such as Esky Lama v4 or Esky Big Lama) |
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# |
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# @type Coaxial Helicopter |
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# |
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# @output MAIN1 Left swashplate servomotor, pitch axis |
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# @output MAIN2 Right swashplate servomotor, roll axis |
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# @output MAIN3 Upper rotor (CCW) |
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# @output MAIN4 Lower rotor (CW) |
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# |
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# @maintainer Emmanuel Roussel |
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# |
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set VEHICLE_TYPE mc |
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if [ $AUTOCNF == yes ] |
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then |
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param set PE_VELNE_NOISE 0.5 |
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param set PE_VELD_NOISE 0.35 |
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param set PE_POSNE_NOISE 0.5 |
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param set PE_POSD_NOISE 1.25 |
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param set NAV_ACC_RAD 2.0 |
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param set RTL_RETURN_ALT 30.0 |
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param set RTL_DESCEND_ALT 10.0 |
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param set PWM_DISARMED 900 |
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param set PWM_MIN 1075 |
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param set PWM_MAX 1950 |
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param set MC_ROLL_P 6.5 |
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param set MC_ROLLRATE_P 0.17 |
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param set MC_ROLLRATE_I 0.05 |
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param set MC_ROLLRATE_D 0.005 |
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param set MC_ROLLRATE_FF 0 |
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param set MC_PITCH_P 6.5 |
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param set MC_PITCHRATE_P 0.17 |
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param set MC_PITCHRATE_I 0.05 |
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param set MC_PITCHRATE_D 0.005 |
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param set MC_PITCHRATE_FF 0 |
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param set MC_YAW_P 2 |
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param set MC_YAW_FF 0.5 |
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param set MC_YAWRATE_P 0.1 |
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param set MC_YAWRATE_I 0.1 |
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param set MC_YAWRATE_D 0.0 |
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param set MC_YAWRATE_FF 0 |
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fi |
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set MIXER coax |
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# use PWM parameters for throttle channel |
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set PWM_OUT 34 |
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set PWM_RATE 400 |
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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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# This is the gimbal pass mixer |
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set MIXER_AUX pass |
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set PWM_AUX_RATE 50 |
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set PWM_AUX_OUT 1234 |
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set PWM_AUX_DISARMED 1500 |
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set PWM_AUX_MIN 1000 |
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set PWM_AUX_MAX 2000 |
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