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.
56 lines
1.2 KiB
56 lines
1.2 KiB
#!nsh |
|
# |
|
# @name Blade 130X |
|
# |
|
# @type Helicopter |
|
# @class Copter |
|
# |
|
# @maintainer Bart Slinger <bartslinger@gmail.com> |
|
# |
|
# @output MAIN1 main motor |
|
# @output MAIN2 front swashplate servo |
|
# @output MAIN3 right swashplate servo |
|
# @output MAIN4 left swashplate servo |
|
# @output MAIN5 tail-rotor servo |
|
# |
|
|
|
sh /etc/init.d/rc.mc_defaults |
|
|
|
# Configure as helicopter (number 4 defined in commander_helper.cpp) |
|
set MAV_TYPE 4 |
|
|
|
set MIXER blade130 |
|
|
|
#set PWM_OUT 1234 |
|
|
|
if [ $AUTOCNF = yes ] |
|
then |
|
param set ATT_BIAS_MAX 0.0 |
|
|
|
param set CBRK_IO_SAFETY 22027 |
|
|
|
param set MC_ROLL_P 5.0 |
|
param set MC_ROLLRATE_P 0.0 |
|
param set MC_ROLLRATE_I 0.0 |
|
param set MC_ROLLRATE_D 0.0 |
|
param set MC_ROLLRATE_FF 0.15 |
|
param set MC_PITCH_P 6.5 |
|
param set MC_PITCHRATE_P 0.0 |
|
param set MC_PITCHRATE_I 0.0 |
|
param set MC_PITCHRATE_D 0.0 |
|
param set MC_PITCHRATE_FF 0.15 |
|
param set MC_YAW_P 3.0 |
|
param set MC_YAWRATE_P 0.1 |
|
param set MC_YAWRATE_I 0.0 |
|
param set MC_YAWRATE_D 0.0 |
|
param set MC_ROLLRATE_MAX 720.0 |
|
param set MC_PITCHRATE_MAX 720.0 |
|
param set MC_YAWRATE_MAX 400.0 |
|
param set MC_ACRO_R_MAX 360.0 |
|
param set MC_ACRO_P_MAX 360.0 |
|
|
|
param set MPC_THR_MIN 0.06 |
|
param set MPC_MANTHR_MIN 0.06 |
|
|
|
param set PWM_MIN 1075 |
|
fi |