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211 lines
5.0 KiB
211 lines
5.0 KiB
#!/bin/sh |
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# |
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# @name Teal One |
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# |
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# @type Quadrotor x |
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# @class Copter |
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# |
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# @board px4_fmu-v2 exclude |
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# @board px4_fmu-v3 exclude |
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# @board px4_fmu-v4pro exclude |
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# @board px4_fmu-v5 exclude |
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# |
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# @output MAIN1 motor 1 |
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# @output MAIN2 motor 2 |
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# @output MAIN3 motor 3 |
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# @output MAIN4 motor 4 |
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# |
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# @maintainer Jacob Dahl <jacob.dahl@tealdrones.com> |
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# |
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echo "Executing 4250_teal script." |
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sh /etc/init.d/rc.mc_defaults |
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set MIXER quad_x |
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set PWM_OUT 1234 |
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if [ $AUTOCNF = yes ] |
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then |
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# First thing, reset all params to default... EXCEPT THIS LIST |
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param reset_nostart RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* CAL_MAG* SENS_BOARD* EKF2_MAGBIAS* |
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# battery |
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param set BAT_CAPACITY 2750 |
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param set BAT_CRIT_THR 0.15 |
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param set BAT_EMERGEN_THR 0.075 |
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param set BAT_LOW_THR 0.20 |
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param set BAT_N_CELLS 4 |
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param set BAT_R_INTERNAL 0.06 |
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param set BAT_SOURCE 1 |
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param set BAT_V_CHARGED 4.15 |
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param set BAT_V_DIV 11.1625 |
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param set BAT_V_EMPTY 3.65 |
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param set BAT_V_OFFS_CURR -0.0045 |
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# sensor calibration |
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param set CAL_MAG0_ROT 0 |
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param set CAL_MAG_SIDES 63 |
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param set SENS_BOARD_ROT 0 |
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param set COM_ARM_MAG 1.5 |
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param set COM_ARM_EKF_AB 0.0032 |
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# circuit breakers |
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param set CBRK_IO_SAFETY 22027 |
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param set CBRK_USB_CHK 197848 |
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# commander |
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param set COM_DISARM_LAND 0.1 |
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# Return mode at critically low level, Land mode at current position if reaching dangerously low levels. |
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param set COM_LOW_BAT_ACT 3 |
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# ekf2 |
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param set EKF2_AID_MASK 1 |
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param set EKF2_MAG_TYPE 1 |
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param set EKF2_GPS_CHECK 511 |
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param set EKF2_GPS_POS_X -0.04 |
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param set EKF2_IMU_POS_X -0.06 |
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param set EKF2_PCOEF_XN 0.1 |
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param set EKF2_PCOEF_XP -0.5 |
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param set EKF2_RNG_AID 1 |
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param set EKF2_RNG_A_VMAX 20 |
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param set EKF2_RNG_NOISE 0.2 |
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param set EKF2_MIN_RNG 0.07 |
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# gps |
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param set GPS_UBX_DYNMODEL 7 |
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# geofence |
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# Geofence violation action -- Warning. |
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param set GF_ACTION 1 |
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# land detector |
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param set LNDMC_XY_VEL_MAX 1 |
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# This is set high because we have lots of vibrations while in contact with ground. |
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param set LNDMC_ROT_MAX 50 |
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# serial comms |
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param set SER_TEL1_BAUD 921600 |
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param set SER_TEL2_BAUD 921600 |
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# mavlink stream configuration |
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# TEL1 ttyS1 -- disabled. TX1 FTDI UART has issues. |
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param set MAV_0_CONFIG 0 |
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param set MAV_0_RATE 800000 |
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# TEL2 ttyS2 -- Primary MAVLINK stream to companion computer. |
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param set MAV_1_CONFIG 102 |
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param set MAV_1_RATE 800000 |
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# mc_att_control |
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param set MC_ACRO_P_MAX 360 |
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param set MC_ACRO_R_MAX 360 |
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param set MC_ACRO_Y_MAX 360 |
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param set MC_ROLL_P 6 |
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param set MC_ROLLRATE_P 0.055 |
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param set MC_ROLLRATE_I 0.2 |
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param set MC_ROLLRATE_D 0.0012 |
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param set MC_ROLLRATE_MAX 180 |
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param set MC_PITCH_P 6.5 |
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param set MC_PITCHRATE_P 0.06 |
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param set MC_PITCHRATE_I 0.2 |
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param set MC_PITCHRATE_D 0.0012 |
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param set MC_PITCHRATE_MAX 180 |
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param set MC_YAW_P 1 |
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param set MC_YAWRATE_P 0.08 |
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param set MC_YAWRATE_I 0.08 |
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param set MC_YAWRATE_D 0 |
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param set MC_YAWRATE_MAX 180 |
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# Set to reduce voltage transients as seen by battery management system. |
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param set MOT_SLEW_MAX 0.15 |
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#### CONTROLLER ### |
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param set MPC_LAND_ALT1 8 |
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param set MPC_LAND_ALT2 5 |
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param set MPC_TKO_RAMP_T 0.75 |
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param set MPC_TKO_SPEED 0.75 |
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param set MPC_TILTMAX_LND 18 |
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param set MPC_TILTMAX_AIR 45 |
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param set MPC_MAN_TILT_MAX 45 |
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param set MPC_MANTHR_MAX 0.85 |
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param set MPC_MANTHR_MIN 0.15 |
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# Full throttle can trip over current protection on BMS. |
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param set MPC_THR_MAX 0.85 |
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param set MPC_THR_MIN 0.15 |
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param set MPC_VEL_MANUAL 26.5 |
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# RTL speed, it was too fast and scaring people. |
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param set MPC_XY_CRUISE 15 |
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param set MPC_MAN_Y_MAX 200 |
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param set MPC_JERK_MAX 5 |
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param set MPC_ACC_UP_MAX 10 |
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param set MPC_ACC_DOWN_MAX 10 |
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param set MPC_ACC_HOR 10 |
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param set MPC_ACC_HOR_MAX 15 |
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param set MPC_XY_P 1.15 |
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param set MPC_XY_VEL_P 0.14 |
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param set MPC_XY_VEL_I 0.014 |
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param set MPC_XY_VEL_D 0.014 |
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param set MPC_XY_VEL_MAX 26.5 |
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param set MPC_Z_P 0.85 |
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param set MPC_Z_VEL_P 0.25 |
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param set MPC_Z_VEL_I 0.085 |
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param set MPC_Z_VEL_D 0.02 |
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# Documentation says limit is 8.0, but does not seem to be enforced in code. |
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param set MPC_Z_VEL_MAX_UP 20 |
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param set MPC_Z_VEL_MAX_DN 2.5 |
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#### CONTROLLER ### |
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# navigator |
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param set NAV_ACC_RAD 2.5 |
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# RC loss failsafe behavior -- hold mode. |
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param set NAV_RCL_ACT 1 |
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# pwm control |
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param set PWM_DISARMED 900 |
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param set PWM_MAX 1850 |
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param set PWM_MIN 1075 |
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# Oneshot125 |
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param set PWM_RATE 0 |
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# rtl |
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param set RTL_DESCEND_ALT 5 |
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param set RTL_LAND_DELAY 5 |
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param set RTL_MIN_DIST 7.5 |
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param set RTL_RETURN_ALT 25 |
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# calibration |
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param set CAL_ACC0_EN 1 |
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param set CAL_ACC1_EN 0 |
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#mpu6500 |
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param set CAL_ACC_PRIME 1442826 |
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param set CAL_GYRO0_EN 1 |
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param set CAL_GYRO1_EN 0 |
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#mpu6500 |
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param set CAL_GYRO_PRIME 2360330 |
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param set CAL_MAG0_EN 1 |
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param set CAL_MAG1_EN 0 |
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param set CAL_MAG_PRIME 265738 |
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fi |
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# Logger mode. Default(1) + estimator replay(2) + thermal calibration(4) |
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param set SDLOG_PROFILE 6 |
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# Do not start frsky_telemetry on port ttyS6 by default, PGA460 lives there. 500 is in arbitrary unused number. |
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param set TEL_FRSKY_CONFIG 500 |
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# We want to make sure these always start |
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param set SENS_EN_PGA460 1 |
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param set SENS_EN_THERMAL 1 |
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param set SENS_EN_BATT 1
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