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.
46 lines
918 B
46 lines
918 B
#!nsh |
|
# |
|
# @name Caipiroshka Duo Tailsitter |
|
# |
|
# @type VTOL Duo Tailsitter |
|
# @class VTOL |
|
# |
|
# @output MAIN1 motor right |
|
# @output MAIN2 motor left |
|
# @output MAIN5 elevon right |
|
# @output MAIN6 elevon left |
|
# |
|
# @maintainer Roman Bapst <roman@px4.io> |
|
# |
|
|
|
sh /etc/init.d/rc.vtol_defaults |
|
|
|
if [ $AUTOCNF = yes ] |
|
then |
|
param set MC_ROLL_P 6.0 |
|
param set MC_ROLLRATE_P 0.12 |
|
param set MC_ROLLRATE_I 0.002 |
|
param set MC_ROLLRATE_D 0.003 |
|
param set MC_ROLLRATE_FF 0.0 |
|
param set MC_PITCH_P 4.5 |
|
param set MC_PITCHRATE_P 0.3 |
|
param set MC_PITCHRATE_I 0.002 |
|
param set MC_PITCHRATE_D 0.003 |
|
param set MC_PITCHRATE_FF 0.0 |
|
param set MC_YAW_P 3.8 |
|
param set MC_YAWRATE_P 0.22 |
|
param set MC_YAWRATE_I 0.02 |
|
param set MC_YAWRATE_D 0.0 |
|
param set MC_YAWRATE_FF 0.0 |
|
|
|
param set VT_IDLE_PWM_MC 1080 |
|
param set VT_ELEV_MC_LOCK 0 |
|
param set VT_MOT_COUNT 2 |
|
param set VT_TYPE 0 |
|
fi |
|
|
|
set MAV_TYPE 19 |
|
|
|
set MIXER caipirinha_vtol |
|
|
|
set PWM_OUT 1234
|
|
|