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138 lines
3.0 KiB
138 lines
3.0 KiB
#!/bin/sh |
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# |
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# @name UVify Draco-R |
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# |
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# @type Hexarotor x |
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# @class Copter |
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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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# @output MAIN5 motor 5 |
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# @output MAIN6 motor 6 |
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# |
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# @output AUX1 feed-through of RC AUX1 channel |
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# @output AUX2 feed-through of RC AUX2 channel |
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# |
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# @maintainer Hyon Lim <lim@uvify.com> |
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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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# @board px4_fmu-v5x exclude |
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# @board intel_aerofc-v1 exclude |
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# @board bitcraze_crazyflie exclude |
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# |
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. ${R}etc/init.d/rc.mc_defaults |
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set MIXER hexa_x |
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set PWM_OUT 12345678 |
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if [ $AUTOCNF = yes ] |
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then |
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############################################### |
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# Attitude & rate gains |
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############################################### |
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# Roll |
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param set MC_ROLL_P 6.5 |
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param set MC_ROLLRATE_P 0.15 |
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param set MC_ROLLRATE_I 0.05 |
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param set MC_ROLLRATE_D 0.0013 |
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param set MC_ROLLRATE_MAX 800 |
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# Pitch |
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param set MC_PITCH_P 6.5 |
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param set MC_PITCHRATE_P 0.15 |
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param set MC_PITCHRATE_I 0.05 |
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param set MC_PITCHRATE_D 0.0016 |
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param set MC_PITCHRATE_MAX 800 |
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# Yaw |
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param set MC_YAW_P 2.8 |
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param set MC_YAWRATE_P 0.2 |
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param set MC_YAWRATE_I 0.1 |
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param set MC_YAWRATE_D 0 |
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param set MC_YAW_FF 0 |
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param set MC_YAWRATE_MAX 700 |
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############################################### |
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# Multirotor Position Gains |
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############################################### |
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param set MPC_ACC_HOR 8 |
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param set MPC_THR_MIN 0.06 |
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param set MPC_THR_HOVER 0.3 |
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# altitude control gains |
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param set MPC_Z_P 1 |
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param set MPC_Z_VEL_P_ACC 4 |
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param set MPC_Z_VEL_I_ACC 0.4 |
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# position control gains |
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param set MPC_XY_P 0.9500 |
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param set MPC_XY_VEL_P_ACC 1.8 |
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param set MPC_XY_VEL_I_ACC 0.4 |
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param set MPC_XY_VEL_D_ACC 0.2 |
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# etc gains |
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param set MPC_TKO_RAMP_T 0.4 |
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param set MPC_TKO_SPEED 1.5 |
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param set MPC_VEL_MANUAL 5 |
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# Filter settings |
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param set IMU_DGYRO_CUTOFF 90 |
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param set IMU_GYRO_CUTOFF 100 |
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# Thrust curve (avoids the need for TPA) |
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param set THR_MDL_FAC 0.25 |
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# System |
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param set PWM_MAX 1950 |
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param set PWM_MIN 1100 |
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param set PWM_MAIN_DIS5 980 |
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param set PWM_MAIN_DIS6 980 |
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# DSHOT |
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param set DSHOT_CONFIG 600 |
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param set MIS_TAKEOFF_ALT 1.1 |
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##################################### |
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# EKF |
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##################################### |
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# Height mode as GPS |
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param set EKF2_HGT_MODE 1 |
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# Enable optical flow and GPS |
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param set EKF2_AID_MASK 1 |
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param set EKF2_RNG_AID 1 |
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param set EKF2_MAG_TYPE 1 |
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param set EKF2_OF_QMIN 80 |
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# default horizontal stablization sensors |
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param set SENS_EN_PMW3901 1 |
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param set SENS_EN_PX4FLOW 1 |
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param set SENS_EN_LL40LS 2 |
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param set SENS_FLOW_ROT 2 |
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# |
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param set CBRK_IO_SAFETY 22027 |
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param set COM_DISARM_LAND 3 |
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# PWM ONESHOT |
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param set PWM_RATE 0 |
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# Battery |
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param set BAT_SOURCE 0 |
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param set BAT_N_CELLS 4 |
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param set BAT_V_DIV 10.133 |
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# TELEM1 ttyS1 |
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param set MAV_0_CONFIG 101 |
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param set MAV_0_MODE 0 # onboard |
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param set MAV_0_FORWARD 1 |
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param set SER_TEL1_BAUD 57600 |
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# TELEM2 ttyS2 |
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param set MAV_1_CONFIG 102 |
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param set MAV_1_MODE 2 |
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param set MAV_1_FORWARD 1 |
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param set MAV_1_RATE 800000 |
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param set SER_TEL2_BAUD 921600 |
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fi |
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