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.
40 lines
852 B
40 lines
852 B
#!nsh |
|
# |
|
# Phantom FPV Flying Wing |
|
# |
|
# Simon Wilks <simon@px4.io> |
|
# |
|
|
|
sh /etc/init.d/rc.fw_defaults |
|
|
|
if [ $AUTOCNF == yes ] |
|
then |
|
param set FW_AIRSPD_MIN 13 |
|
param set FW_AIRSPD_TRIM 15 |
|
param set FW_AIRSPD_MAX 25 |
|
param set FW_ATT_TC 0.3 |
|
param set FW_L1_DAMPING 0.75 |
|
param set FW_L1_PERIOD 15 |
|
param set FW_PR_FF 0.2 |
|
param set FW_PR_I 0.005 |
|
param set FW_PR_IMAX 0.2 |
|
param set FW_PR_P 0.03 |
|
param set FW_P_LIM_MAX 50 |
|
param set FW_P_LIM_MIN -50 |
|
param set FW_P_ROLLFF 1 |
|
param set FW_RR_FF 0.5 |
|
param set FW_RR_I 0.02 |
|
param set FW_RR_IMAX 0.2 |
|
param set FW_RR_P 0.08 |
|
param set FW_R_LIM 50 |
|
param set FW_R_RMAX 0 |
|
# Bottom of bay and nominal zero-pitch attitude differ |
|
# the payload bay is pitched up about 7 degrees |
|
param set SENS_BOARD_Y_OFF 7.0 |
|
fi |
|
|
|
set MIXER phantom |
|
|
|
# Provide ESC a constant 1000 us pulse |
|
set PWM_OUT 4 |
|
set PWM_DISARMED 1000
|
|
|