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.
52 lines
1.1 KiB
52 lines
1.1 KiB
#!nsh |
|
|
|
set VEHICLE_TYPE mc |
|
|
|
if [ $AUTOCNF == yes ] |
|
then |
|
param set MC_ROLL_P 7.0 |
|
param set MC_ROLLRATE_P 0.1 |
|
param set MC_ROLLRATE_I 0.0 |
|
param set MC_ROLLRATE_D 0.003 |
|
param set MC_PITCH_P 7.0 |
|
param set MC_PITCHRATE_P 0.1 |
|
param set MC_PITCHRATE_I 0.0 |
|
param set MC_PITCHRATE_D 0.003 |
|
param set MC_YAW_P 2.8 |
|
param set MC_YAWRATE_P 0.2 |
|
param set MC_YAWRATE_I 0.1 |
|
param set MC_YAWRATE_D 0.0 |
|
param set MC_YAW_FF 0.5 |
|
|
|
param set MPC_THR_MAX 1.0 |
|
param set MPC_THR_MIN 0.1 |
|
param set MPC_XY_P 1.0 |
|
param set MPC_XY_VEL_P 0.1 |
|
param set MPC_XY_VEL_I 0.02 |
|
param set MPC_XY_VEL_D 0.01 |
|
param set MPC_XY_VEL_MAX 5 |
|
param set MPC_XY_FF 0.5 |
|
param set MPC_Z_P 1.0 |
|
param set MPC_Z_VEL_P 0.1 |
|
param set MPC_Z_VEL_I 0.02 |
|
param set MPC_Z_VEL_D 0.0 |
|
param set MPC_Z_VEL_MAX 3 |
|
param set MPC_Z_FF 0.5 |
|
param set MPC_TILTMAX_AIR 45.0 |
|
param set MPC_TILTMAX_LND 15.0 |
|
param set MPC_LAND_SPEED 1.0 |
|
|
|
param set PE_VELNE_NOISE 0.5 |
|
param set PE_VELD_NOISE 0.7 |
|
param set PE_POSNE_NOISE 0.5 |
|
param set PE_POSD_NOISE 1.0 |
|
|
|
param set NAV_ACC_RAD 2.0 |
|
param set RTL_RETURN_ALT 30.0 |
|
param set RTL_DESCEND_ALT 10.0 |
|
fi |
|
|
|
set PWM_RATE 400 |
|
set PWM_DISARMED 900 |
|
set PWM_MIN 1075 |
|
set PWM_MAX 2000
|
|
|