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.
142 lines
3.0 KiB
142 lines
3.0 KiB
#!/bin/sh |
|
# |
|
# @name UVify IFO |
|
# |
|
# @type Quadrotor x |
|
# @class Copter |
|
# |
|
# @output MAIN1 motor 1 |
|
# @output MAIN2 motor 2 |
|
# @output MAIN3 motor 3 |
|
# @output MAIN4 motor 4 |
|
# |
|
# @board px4_fmu-v2 exclude |
|
# @board px4_fmu-v3 exclude |
|
# @board px4_fmu-v4pro exclude |
|
# @board px4_fmu-v5 exclude |
|
# @board px4_fmu-v5x exclude |
|
# @board intel_aerofc-v1 exclude |
|
# |
|
# @maintainer Hyon Lim <lim@uvify.com> |
|
# |
|
|
|
set VEHICLE_TYPE mc |
|
set MIXER quad_x |
|
set PWM_OUT 1234 |
|
|
|
if [ $AUTOCNF = yes ] |
|
then |
|
# Attitude & rate gains |
|
#param set MC_ROLL_P 7 |
|
param set MC_ROLLRATE_P 0.15 |
|
#param set MC_ROLLRATE_I 0.9 |
|
param set MC_ROLLRATE_D 0.0013 |
|
|
|
#param set MC_PITCH_P 7 |
|
param set MC_PITCHRATE_P 0.15 |
|
#param set MC_PITCHRATE_I 1.1 |
|
param set MC_PITCHRATE_D 0.0016 |
|
|
|
param set MC_YAW_P 2.8 |
|
param set MC_YAWRATE_P 0.2 |
|
#param set MC_YAWRATE_I 0.15 |
|
param set MC_YAWRATE_D 0 |
|
|
|
#param set MC_ROLL_TC 0.19 |
|
#param set MC_PITCH_TC 0.16 |
|
|
|
# Manual mode settings: Unleash Draco R's power :) |
|
#param set MPC_MAN_TILT_MAX 70 |
|
#param set MC_PITCHRATE_MAX 1600 |
|
#param set MC_ROLLRATE_MAX 1600 |
|
#param set MC_YAWRATE_MAX 700 |
|
param set MPC_MANTHR_MIN 0.08 |
|
#param set MPC_MAN_TILT_MAX 35 |
|
#param set MPC_TILTMAX_AIR 20 |
|
|
|
# Filter settings |
|
param set IMU_GYRO_CUTOFF 100 |
|
|
|
# Thrust curve (avoids the need for TPA) |
|
#param set THR_MDL_FAC 0.25 |
|
|
|
# Obsolete |
|
#param set PWM_MAIN_MAX 1950 |
|
#param set PWM_MAIN_MIN 1100 |
|
#param set PWM_MAIN_RATE 0 |
|
|
|
# Sensors |
|
param set SENS_BOARD_ROT 10 |
|
# Yaw 180 |
|
param set SENS_FLOW_ROT 4 |
|
# TFMini on TELEM3 |
|
param set SENS_TFMINI_CFG 103 |
|
|
|
# Smart Battery |
|
param set SENS_EN_BATT 1 |
|
|
|
# EKF2 |
|
param set EKF2_AID_MASK 3 |
|
param set EKF2_GND_EFF_DZ 6 |
|
param set EKF2_HGT_MODE 1 |
|
param set EKF2_MIN_RNG 0.3 |
|
param set EKF2_RNG_AID 1 |
|
|
|
# Flow |
|
param set EKF2_OF_QMIN 70 |
|
|
|
# Position control |
|
param set MPC_Z_P 1.1 |
|
param set MPC_Z_VEL_P_ACC 6 |
|
param set MPC_Z_VEL_I_ACC 1 |
|
|
|
param set MPC_THR_MIN 0.06 |
|
param set MPC_THR_HOVER 0.44 |
|
|
|
param set MIS_TAKEOFF_ALT 1.1 |
|
param set MPC_XY_P 1.7 |
|
param set MPC_XY_VEL_P_ACC 2.6 |
|
param set MPC_XY_VEL_I_ACC 1.2 |
|
param set MPC_XY_VEL_D_ACC 0.2 |
|
param set MPC_TKO_RAMP_T 1 |
|
param set MPC_TKO_SPEED 1.1 |
|
param set MPC_VEL_MANUAL 3 |
|
|
|
param set BAT_SOURCE 0 |
|
param set BAT_N_CELLS 4 |
|
param set BAT_V_DIV 10.14 |
|
param set BAT_A_PER_V 18.18 |
|
#param set CBRK_IO_SAFETY 22027 |
|
param set COM_DISARM_LAND 2 |
|
|
|
# Filter settings |
|
param set IMU_GYRO_CUTOFF 90 |
|
|
|
# Don't try to be intelligent on RC loss: just cut the motors |
|
param set NAV_RCL_ACT 6 |
|
|
|
# enable to use high-rate logging for better rate tracking analysis |
|
# param set SDLOG_PROFILE 19 |
|
|
|
# TELEM1 ttyS1 - Wifi module |
|
param set MAV_0_CONFIG 101 |
|
param set MAV_0_RATE 0 |
|
param set MAV_0_MODE 2 # onboard |
|
param set SER_TEL1_BAUD 921600 |
|
|
|
# TELEM2 ttyS2 - Sub 1-Ghz |
|
param set MAV_1_CONFIG 102 |
|
param set MAV_1_MODE 0 # normal |
|
param set SER_TEL2_BAUD 57600 |
|
|
|
# DSHOT |
|
param set DSHOT_CONFIG 600 |
|
|
|
# EKF OF POSITION |
|
param set EKF2_OF_POS_X 0.06 |
|
param set EKF2_OF_POS_Y 0.03 |
|
param set EKF2_OF_POS_Z -0.07 |
|
|
|
# Failsafe |
|
param set COM_LOW_BAT_ACT 3 |
|
fi
|
|
|