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.
49 lines
1.0 KiB
49 lines
1.0 KiB
#!nsh |
|
|
|
set VEHICLE_TYPE vtol |
|
|
|
if [ $AUTOCNF == yes ] |
|
then |
|
param set MC_ROLL_P 6.0 |
|
param set MC_PITCH_P 6.0 |
|
param set MC_YAW_P 4 |
|
|
|
param set PE_VELNE_NOISE 0.5 |
|
param set PE_VELD_NOISE 0.3 |
|
param set PE_POSNE_NOISE 0.5 |
|
param set PE_POSD_NOISE 1.25 |
|
param set PE_ABIAS_PNOISE 0.0001 |
|
|
|
# |
|
# Default parameters for mission and position handling |
|
# |
|
param set NAV_ACC_RAD 3 |
|
param set MPC_TKO_SPEED 1.0 |
|
param set MPC_LAND_SPEED 0.7 |
|
param set MPC_Z_VEL_MAX 1.5 |
|
param set MPC_XY_VEL_MAX 4.0 |
|
param set MIS_YAW_TMT 10 |
|
param set MPC_ACC_HOR_MAX 2.0 |
|
param set RTL_LAND_DELAY 0 |
|
fi |
|
|
|
# set environment variables (!= parameters) |
|
set PWM_RATE 400 |
|
# tell the mixer to use parameters for these instead |
|
set PWM_DISARMED p:PWM_DISARMED |
|
set PWM_MIN p:PWM_MIN |
|
set PWM_MAX p:PWM_MAX |
|
|
|
# Transitional support: ensure suitable PWM min/max param values |
|
if param compare PWM_MIN 1000 |
|
then |
|
param set PWM_MIN 1075 |
|
fi |
|
if param compare PWM_MAX 2000 |
|
then |
|
param set PWM_MAX 1950 |
|
fi |
|
if param compare PWM_DISARMED 0 |
|
then |
|
param set PWM_DISARMED 900 |
|
fi
|
|
|