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139 lines
3.2 KiB
139 lines
3.2 KiB
#!/bin/sh |
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# |
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# @name PX4 Vision DevKit Platform |
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# |
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# @type Quadrotor 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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# |
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# @board px4_fmu-v2 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 quad_x |
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set PWM_OUT 1234 |
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if [ $AUTOCNF = yes ] |
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then |
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# System parameters |
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# use FMU motor outputs for less delay in the rate control loop |
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param set SYS_USE_IO 0 |
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# Commander Parameters |
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param set COM_OBS_AVOID 1 |
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param set COM_DISARM_LAND 0.5 |
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# EKF2 parameters |
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param set EKF2_AID_MASK 35 |
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param set EKF2_IMU_POS_X 0.02 |
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param set EKF2_GPS_POS_X 0.055 |
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param set EKF2_GPS_POS_Z -0.15 |
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param set EKF2_HGT_MODE 0 |
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param set EKF2_MIN_RNG 0.03 |
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param set EKF2_OF_POS_X 0.055 |
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param set EKF2_OF_POS_Y 0.02 |
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param set EKF2_OF_POS_Z 0.065 |
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param set EKF2_REQ_HDRIFT 0.3 |
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param set EKF2_REQ_SACC 1 |
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param set EKF2_REQ_VDRIFT 0.3 |
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param set EKF2_RNG_AID 1 |
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param set EKF2_RNG_A_HMAX 8 |
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param set EKF2_RNG_A_VMAX 2 |
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param set EKF2_RNG_POS_X 0.055 |
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param set EKF2_RNG_POS_Y -0.01 |
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param set EKF2_RNG_POS_Z 0.065 |
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param set EKF2_PCOEF_XP -0.25 |
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param set EKF2_PCOEF_YN -0.55 |
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param set EKF2_PCOEF_YP -0.55 |
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# MAVLink parameters |
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param set MAV_0_CONFIG 101 |
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param set MAV_1_CONFIG 102 |
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param set MAV_1_RATE 80000 |
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param set MAV_1_MODE 9 |
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param set SER_TEL1_BAUD 921600 |
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# Vehicle attitude PID tuning |
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param set MC_ACRO_EXPO 0 |
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param set MC_ACRO_EXPO_Y 0 |
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param set MC_ACRO_P_MAX 200 |
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param set MC_ACRO_R_MAX 200 |
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param set MC_ACRO_SUPEXPO 0 |
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param set MC_ACRO_SUPEXPOY 0 |
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param set MC_ACRO_Y_MAX 150 |
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param set IMU_DGYRO_CUTOFF 30 |
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param set MC_PITCHRATE_D 0.0015 |
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param set MC_PITCHRATE_I 0.2 |
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param set MC_PITCHRATE_K 1 |
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param set MC_PITCHRATE_P 0.15 |
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param set MC_ROLLRATE_D 0.0015 |
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param set MC_ROLLRATE_I 0.2 |
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param set MC_ROLLRATE_K 1 |
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param set MC_ROLLRATE_P 0.15 |
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param set MC_YAWRATE_P 0.3 |
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# Position Control Tuning |
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param set CP_DIST 6 |
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param set MPC_ACC_DOWN_MAX 5 |
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param set MPC_ACC_HOR_MAX 10 |
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param set MPC_ACC_UP_MAX 4 |
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param set MPC_MANTHR_MIN 0 |
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param set MPC_MAN_Y_MAX 120 |
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param set MPC_TILTMAX_AIR 45 |
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param set MPC_THR_HOVER 0.3 |
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param set MPC_THR_MIN 0.12 |
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param set MPC_TKO_SPEED 1 |
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param set MPC_VEL_MANUAL 5 |
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param set MPC_XY_CRUISE 5 |
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param set MPC_XY_VEL_MAX 5 |
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param set MPC_XY_VEL_P_ACC 1.58 |
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param set MPC_XY_TRAJ_P 0.3 |
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param set MPC_Z_TRAJ_P 0.3 |
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param set MPC_Z_VEL_P_ACC 5 |
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param set MPC_Z_VEL_I_ACC 3 |
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param set MPC_LAND_ALT1 3 |
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param set MPC_LAND_ALT2 1 |
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# Navigator Parameters |
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param set NAV_ACC_RAD 2 |
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# PWM and RC Parameters |
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param set PWM_MAIN_MAX 1950 |
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param set PWM_MAIN_MIN 1075 |
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# use oneshot motor output protocol |
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param set PWM_MAIN_RATE 0 |
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# RTL Parameters |
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param set RTL_DESCEND_ALT 5 |
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param set RTL_RETURN_ALT 5 |
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param set RTL_CONE_ANG 45 |
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# Logging Parameters |
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param set SDLOG_PROFILE 131 |
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# Sensors Parameters |
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param set SENS_BOARD_ROT 0 |
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param set SENS_CM8JL65_CFG 104 |
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param set SENS_FLOW_MAXHGT 25 |
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param set SENS_FLOW_MINHGT 0.5 |
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param set SENS_FLOW_ROT 0 |
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param set IMU_GYRO_CUTOFF 100 |
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param set SENS_EN_PMW3901 1 |
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# Power Parameters |
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param set BAT_N_CELLS 4 |
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param set BAT_A_PER_V 36.364 |
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param set BAT_V_DIV 18.182 |
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# Circuit breakers |
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param set CBRK_IO_SAFETY 22027 |
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param set THR_MDL_FAC 0.3 |
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fi
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