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144 lines
3.9 KiB
144 lines
3.9 KiB
#!/bin/sh |
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# |
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# @name Vertical Technologies DeltaQuad |
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# |
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# @type Standard VTOL |
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# @class VTOL |
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# |
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# @maintainer Sander Smeets <sander@droneslab.com> |
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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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# @output MAIN5 Right elevon |
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# @output MAIN6 Left elevon |
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# @output MAIN7 Pusher motor |
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# @output MAIN8 Pusher reverse channel |
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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.vtol_defaults |
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param set-default BAT1_CAPACITY 23000 |
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param set-default BAT1_N_CELLS 4 |
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param set-default BAT1_R_INTERNAL 0.0025 |
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param set-default CBRK_AIRSPD_CHK 162128 |
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param set-default CBRK_IO_SAFETY 22027 |
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param set-default EKF2_GPS_POS_X -0.12 |
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param set-default EKF2_IMU_POS_X -0.12 |
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param set-default EKF2_TAU_VEL 0.5 |
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param set-default EKF2_GPS_P_GATE 10 |
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param set-default EKF2_GPS_V_GATE 10 |
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param set-default FW_ARSP_MODE 1 |
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param set-default FW_L1_PERIOD 25 |
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param set-default FW_PR_FF 0.7 |
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param set-default FW_PR_I 0.18 |
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param set-default FW_PR_P 0.15 |
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param set-default FW_P_TC 0.5 |
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param set-default FW_PSP_OFF 5 |
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param set-default FW_R_LIM 35 |
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param set-default FW_RR_FF 0.9 |
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param set-default FW_RR_I 0.08 |
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param set-default FW_RR_P 0.18 |
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param set-default FW_T_HRATE_FF 0.5 |
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param set-default FW_T_CLMB_MAX 3 |
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param set-default FW_T_SINK_MAX 3 |
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param set-default FW_T_SINK_MIN 1 |
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param set-default FW_T_VERT_ACC 6 |
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param set-default FW_THR_CRUISE 0.70 |
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param set-default FW_THR_SLEW_MAX 1 |
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param set-default FW_MAN_P_MAX 30 |
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param set-default FW_P_LIM_MAX 15 |
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param set-default FW_P_LIM_MIN -25 |
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param set-default FW_P_RMAX_NEG 45 |
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param set-default FW_P_RMAX_POS 45 |
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param set-default FW_R_RMAX 50 |
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param set-default FW_THR_MIN 0.55 |
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param set-default FW_BAT_SCALE_EN 1 |
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param set-default FW_THR_ALT_SCL 2.7 |
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param set-default FW_T_RLL2THR 20 |
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param set-default LNDMC_ALT_MAX 9999 |
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param set-default LNDMC_XY_VEL_MAX 1 |
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param set-default LNDMC_Z_VEL_MAX 0.7 |
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param set-default MC_ROLLRATE_P 0.16 |
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param set-default MC_ROLLRATE_I 0.01 |
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param set-default MC_ROLLRATE_MAX 80 |
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param set-default MC_PITCHRATE_I 0.05 |
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param set-default MC_PITCHRATE_MAX 80 |
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param set-default MC_YAW_P 3.5 |
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param set-default MC_YAWRATE_MAX 20 |
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param set-default MC_AIRMODE 1 |
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param set-default MIS_DIST_1WP 100 |
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param set-default MIS_DIST_WPS 100000 |
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param set-default MIS_TAKEOFF_ALT 15 |
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param set-default MPC_XY_P 0.8 |
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param set-default MPC_XY_VEL_P_ACC 2 |
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param set-default MPC_XY_VEL_MAX 5 |
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param set-default MPC_ACC_HOR_MAX 2 |
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param set-default MPC_LAND_SPEED 1.2 |
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param set-default MPC_TILTMAX_LND 35 |
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param set-default MPC_Z_VEL_MAX_UP 1.5 |
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param set-default MPC_Z_VEL_MAX_DN 1.5 |
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param set-default MPC_HOLD_MAX_XY 0.5 |
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param set-default MPC_HOLD_MAX_Z 0.5 |
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param set-default MPC_TKO_RAMP_T 0.8 |
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param set-default MPC_XY_CRUISE 5 |
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param set-default MPC_TILTMAX_AIR 25 |
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param set-default MPC_TILTMAX_LND 25 |
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param set-default MPC_YAWRAUTO_MAX 20 |
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param set-default NAV_LOITER_RAD 100 |
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param set-default PWM_AUX_DISARM 950 |
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param set-default PWM_MAIN_DIS5 1500 |
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param set-default PWM_MAIN_DIS6 1500 |
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param set-default PWM_MAIN_DIS7 900 |
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param set-default PWM_MAIN_DIS8 900 |
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param set-default SENS_BOARD_ROT 18 |
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# TELEM2 config |
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param set-default MAV_1_CONFIG 102 |
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param set-default MAV_1_RATE 5000 |
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param set-default MAV_1_FORWARD 1 |
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param set-default SER_TEL2_BAUD 57600 |
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param set-default VT_TYPE 2 |
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param set-default VT_MOT_ID 1234 |
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param set-default VT_FW_MOT_OFFID 1234 |
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param set-default VT_F_TRANS_THR 1 |
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param set-default VT_PITCH_MIN 8 |
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param set-default VT_FW_QC_P 55 |
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param set-default VT_FW_QC_R 55 |
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param set-default VT_TRANS_MIN_TM 15 |
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param set-default VT_B_TRANS_DUR 8 |
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param set-default VT_FWD_THRUST_SC 4 |
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param set-default VT_F_TRANS_DUR 1 |
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param set-default VT_IDLE_PWM_MC 1025 |
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param set-default VT_B_REV_OUT 0.5 |
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param set-default VT_B_TRANS_THR 0.7 |
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param set-default VT_FW_PERM_STAB 1 |
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param set-default VT_TRANS_TIMEOUT 22 |
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param set-default VT_F_TRANS_RAMP 4 |
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param set-default COM_RC_OVERRIDE 0 |
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set MAV_TYPE 22 |
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set MIXER deltaquad |
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set MIXER_AUX pass |
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set PWM_OUT 1234 |
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set PWM_AUX_OUT 12345
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