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.
57 lines
1.2 KiB
57 lines
1.2 KiB
#!/bin/sh |
|
# |
|
# @name HolyBro QAV250 |
|
# |
|
# @board px4_fmu-v2 exclude |
|
# @url https://docs.px4.io/en/frames_multicopter/holybro_qav250_pixhawk4_mini.html |
|
# |
|
# @type Quadrotor x |
|
# @class Copter |
|
# |
|
# @maintainer Beat Kueng <beat-kueng@gmx.net> |
|
# |
|
|
|
sh /etc/init.d/rc.mc_defaults |
|
|
|
set MIXER quad_x |
|
set PWM_OUT 1234 |
|
|
|
if [ $AUTOCNF = yes ] |
|
then |
|
# The set does not include a battery, but most people will probably use 4S |
|
param set BAT_N_CELLS 4 |
|
|
|
param set IMU_GYRO_CUTOFF 120 |
|
param set MC_DTERM_CUTOFF 45 |
|
|
|
param set MC_AIRMODE 1 |
|
param set MC_PITCHRATE_D 0.0012 |
|
param set MC_PITCHRATE_I 0.25 |
|
param set MC_PITCHRATE_MAX 1200 |
|
param set MC_PITCHRATE_P 0.082 |
|
param set MC_PITCH_P 8 |
|
param set MC_ROLLRATE_D 0.0012 |
|
param set MC_ROLLRATE_I 0.2 |
|
param set MC_ROLLRATE_MAX 1200 |
|
param set MC_ROLLRATE_P 0.076 |
|
param set MC_ROLL_P 8 |
|
param set MC_YAWRATE_I 0.3 |
|
param set MC_YAWRATE_MAX 600 |
|
param set MC_YAWRATE_P 0.25 |
|
param set MC_YAW_P 4 |
|
|
|
param set MPC_MANTHR_MIN 0 |
|
param set MPC_MAN_TILT_MAX 60 |
|
param set MPC_THR_CURVE 1 |
|
param set MPC_THR_HOVER 0.25 |
|
param set MPC_THR_MIN 0.05 |
|
param set MPC_Z_VEL_I 0.085 |
|
|
|
param set PWM_MAX 1950 |
|
param set PWM_MIN 1050 |
|
|
|
param set PWM_RATE 0 |
|
param set RC_FLT_CUTOFF 0 |
|
param set THR_MDL_FAC 0.3 |
|
fi |
|
|
|
|