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95 lines
2.6 KiB
95 lines
2.6 KiB
#!nsh |
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# |
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# @name 3DR Solo |
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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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# @board px4fmu-v2 exclude |
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# @board px4fmu-v4 exclude |
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# @board px4fmu-v4pro exclude |
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# @board px4fmu-v5 exclude |
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# @board aerofc-v1 exclude |
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# |
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# @maintainer Andreas Antener <andreas@uaventure.com> |
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# |
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sh /etc/init.d/rc.mc_defaults |
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if [ $AUTOCNF == yes ] |
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then |
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# tuning |
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param set MC_PITCHRATE_P 0.11 |
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param set MC_ROLLRATE_P 0.11 |
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param set MPC_MANTHR_MIN 0.08 |
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param set MPC_XY_VEL_MAX 3.0 |
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param set MPC_Z_VEL_MAX_DN 2.0 |
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# INAV: higher GPS weights for better altitude control |
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param set INAV_W_Z_BARO 0.3 |
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param set INAV_W_Z_GPS_P 0.8 |
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param set INAV_W_Z_GPS_V 0.8 |
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# takeoff, land and RTL settings |
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param set MIS_TAKEOFF_ALT 4.0 |
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param set COM_DISARM_LAND 1 |
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param set RTL_LAND_DELAY 1 |
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param set RTL_DESCEND_ALT 5.0 |
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param set RTL_RETURN_ALT 15.0 |
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param set MPC_TILTMAX_LND 8.0 |
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param set MPC_LAND_SPEED 0.4 |
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param set MPC_HOLD_MAX_Z 1.5 |
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param set MPC_TKO_JMPSPD 2.0 |
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param set MPC_TKO_SPEED 1.5 |
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# setup |
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# main board rotation: pitch 180 |
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param set SENS_BOARD_ROT 12 |
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# solo external mag rotation |
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param set CAL_MAG0_ROT 30 |
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# no safety switch |
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param set CBRK_IO_SAFETY 22027 |
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# battery voltage not available yet |
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param set CBRK_SUPPLY_CHK 894281 |
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# RC configuration |
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param set RC_MAP_MODE_SW 5 |
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param set RC_MAP_PITCH 2 |
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param set RC_MAP_ROLL 1 |
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param set RC_MAP_THROTTLE 3 |
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param set RC_MAP_YAW 4 |
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param set RC1_DZ 10 |
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param set RC1_MAX 1988 |
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param set RC1_MIN 1003 |
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param set RC1_REV 1 |
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param set RC1_TRIM 1499 |
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param set RC2_DZ 10 |
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param set RC2_MAX 1987 |
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param set RC2_MIN 1023 |
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param set RC2_REV -1 |
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param set RC2_TRIM 1499 |
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param set RC3_DZ 10 |
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param set RC3_MAX 1877 |
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param set RC3_MIN 1023 |
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param set RC3_REV 1 |
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param set RC3_TRIM 1023 |
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param set RC4_DZ 10 |
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param set RC4_MAX 1998 |
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param set RC4_MIN 1012 |
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param set RC4_REV 1 |
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param set RC4_TRIM 1500 |
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param set RC5_DZ 10 |
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param set RC5_MAX 2000 |
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param set RC5_MIN 1000 |
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param set RC5_REV 1 |
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param set RC5_TRIM 1500 |
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fi |
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set MIXER quad_x |
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set PWM_OUT 1234 |
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set MIXER_AUX none |
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# enable high-speed link on telem 1 |
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set MAVLINK_F "-d /dev/ttyS1 -b 921600 -r 80000 -m onboard -x"
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