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103 lines
2.2 KiB
103 lines
2.2 KiB
#!/bin/sh |
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# |
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# @name UVify Draco |
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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 px4_fmu-v3 exclude |
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# @board px4_fmu-v4pro exclude |
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# @board px4_fmu-v5 exclude |
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# @board px4_fmu-v5x exclude |
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# @board intel_aerofc-v1 exclude |
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# |
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# @maintainer Hyon Lim <lim@uvify.com> |
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# |
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sh /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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# use the Q attitude estimator, it works w/o mag or GPS. |
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param set SYS_MC_EST_GROUP 3 |
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param set ATT_ACC_COMP 0 |
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param set ATT_W_ACC 0.4000 |
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param set ATT_W_GYRO_BIAS 0.0000 |
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param set SYS_HAS_MAG 0 |
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# Attitude & rate gains |
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param set MC_ROLL_P 8.0 |
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param set MC_ROLLRATE_P 0.11 |
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param set MC_ROLLRATE_I 0.3 |
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param set MC_ROLLRATE_D 0.0015 |
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param set MC_ROLLRATE_MAX 1600.0 |
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param set MC_PITCH_P 8.0 |
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param set MC_PITCHRATE_P 0.13 |
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param set MC_PITCHRATE_I 0.35 |
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param set MC_PITCHRATE_D 0.0015 |
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param set MC_PITCHRATE_MAX 1600.0 |
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param set MC_YAW_P 4.0 |
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param set MC_YAWRATE_P 0.21 |
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param set MC_YAWRATE_I 0.3 |
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param set MC_YAWRATE_D 0.0 |
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param set MC_YAW_FF 0.5 |
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param set MC_YAWRATE_MAX 600.0 |
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param set MC_ROLL_TC 0.19 |
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param set MC_PITCH_TC 0.16 |
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param set MC_AIRMODE 1 |
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param set MPC_MAN_TILT_MAX 60.0 |
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param set MPC_THR_CURVE 1 |
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param set MPC_THR_HOVER 0.25 |
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# Disable RC filtering |
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param set RC_FLT_CUTOFF 0.00000 |
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# Thrust curve (avoids the need for TPA) |
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param set THR_MDL_FAC 0.3 |
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# System |
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param set PWM_MAX 1950 |
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param set PWM_MIN 1180 |
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# enable one-shot |
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param set PWM_RATE 0 |
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param set SENS_BOARD_ROT 2 |
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param set BAT_SOURCE 0 |
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param set CBRK_IO_SAFETY 22027 |
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#param set COM_ARM_EKF_AB 0.00500 |
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#param set COM_DISARM_LAND 3 |
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# Filter settings |
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param set IMU_GYRO_CUTOFF 90.00000 |
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param set IMU_DGYRO_CUTOFF 100.00000 |
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# Don't try to be intelligent on RC loss: just cut the motors |
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#param set NAV_RCL_ACT 6 |
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# enable to use high-rate logging for better rate tracking analysis |
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param set SDLOG_PROFILE 27 |
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# TELEM1 ttyS1 |
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#param set MAV_0_CONFIG 101 |
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#param set MAV_0_MODE 2 # onboard |
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#param set MAV_0_RATE 20000 |
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#param set SER_TEL1_BAUD 921600 |
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# TELEM2 ttyS2 |
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#param set MAV_1_CONFIG 0 |
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fi
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