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155 lines
3.6 KiB
155 lines
3.6 KiB
#!nsh |
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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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sh /etc/init.d/rc.vtol_defaults |
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if [ $AUTOCNF == yes ] |
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then |
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param set BAT_CAPACITY 23000 |
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param set BAT_N_CELLS 4 |
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param set BAT_R_INTERNAL 0.0025 |
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param set COM_DISARM_LAND 5 |
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param set VT_TYPE 2 |
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param set VT_MOT_COUNT 4 |
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param set VT_F_TRANS_THR 1 |
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param set VT_DWN_PITCH_MAX 8 |
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param set VT_FW_QC_P 55 |
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param set VT_FW_QC_R 55 |
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param set VT_TRANS_MIN_TM 15 |
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param set VT_B_TRANS_DUR 8 |
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param set VT_WV_LND_EN 1 |
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param set VT_WV_LTR_EN 1 |
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param set VT_FWD_THRUST_SC 4 |
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param set VT_F_TRANS_DUR 1 |
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param set VT_IDLE_PWM_MC 1025 |
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param set VT_B_REV_OUT 0.5 |
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param set VT_B_TRANS_THR 0.7 |
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param set VT_FW_PERM_STAB 1 |
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param set VT_TRANS_TIMEOUT 22 |
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param set VT_F_TRANS_RAMP 4 |
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param set FW_ARSP_MODE 2 |
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param set FW_L1_PERIOD 25 |
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param set FW_PR_FF 0.7 |
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param set FW_PR_I 0.18 |
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param set FW_PR_P 0.15 |
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param set FW_P_TC 0.5 |
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param set FW_PSP_OFF 5 |
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param set FW_R_LIM 35 |
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param set FW_RR_FF 0.9 |
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param set FW_RR_I 0.08 |
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param set FW_RR_P 0.18 |
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param set FW_T_HRATE_FF 0.5 |
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param set FW_T_CLMB_MAX 3 |
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param set FW_T_SINK_MAX 3 |
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param set FW_T_SINK_MIN 1 |
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param set FW_T_VERT_ACC 6 |
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param set FW_T_HRATE_P 0.1 |
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param set FW_THR_CRUISE 0.70 |
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param set FW_THR_SLEW_MAX 1 |
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param set FW_MAN_P_MAX 30 |
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param set FW_P_LIM_MAX 15 |
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param set FW_P_LIM_MIN -25 |
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param set FW_P_RMAX_NEG 45 |
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param set FW_P_RMAX_POS 45 |
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param set FW_R_RMAX 50 |
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param set FW_THR_MIN 0.55 |
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param set FW_BAT_SCALE_EN 1 |
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param set FW_THR_ALT_SCL 2.7 |
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param set FW_T_RLL2THR 20 |
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param set LNDMC_ALT_MAX 9999 |
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param set LNDMC_XY_VEL_MAX 1 |
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param set LNDMC_Z_VEL_MAX 0.7 |
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param set MC_ROLL_P 6.5 |
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param set MC_ROLLRATE_P 0.16 |
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param set MC_ROLLRATE_I 0.01 |
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param set MC_ROLLRATE_D 0.003 |
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param set MC_ROLLRATE_FF 0.0 |
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param set MC_ROLLRATE_MAX 80 |
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param set MC_PITCH_P 6.5 |
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param set MC_PITCHRATE_P 0.15 |
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param set MC_PITCHRATE_I 0.05 |
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param set MC_PITCHRATE_D 0.003 |
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param set MC_PITCHRATE_FF 0.0 |
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param set MC_PITCHRATE_MAX 80 |
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param set MC_YAW_P 3.5 |
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param set MC_YAWRATE_P 0.2 |
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param set MC_YAWRATE_I 0.1 |
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param set MC_YAWRATE_D 0.0 |
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param set MC_YAWRATE_FF 0.0 |
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param set MC_YAWRATE_MAX 20 |
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param set MC_YAWRAUTO_MAX 20 |
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param set MC_AIRMODE 1 |
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param set MPC_XY_P 0.8 |
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param set MPC_XY_VEL_P 0.1 |
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param set MPC_XY_VEL_MAX 5 |
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param set MPC_ACC_HOR_MAX 2.0 |
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param set MPC_LAND_SPEED 1.2 |
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param set MPC_MAN_R_MAX 30 |
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param set MPC_TILTMAX_LND 35 |
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param set MPC_Z_VEL_MAX 1.5 |
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param set MPC_Z_VEL_MAX_UP 1.5 |
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param set MPC_Z_VEL_MAX_DN 1.5 |
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param set MPC_HOLD_MAX_XY 0.5 |
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param set MPC_HOLD_MAX_Z 0.5 |
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param set MPC_TKO_RAMP_T 0.8 |
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param set MPC_XY_CRUISE 5 |
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param set MPC_TILTMAX_AIR 25 |
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param set MPC_TILTMAX_LND 25 |
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param set CBRK_AIRSPD_CHK 162128 |
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param set CBRK_IO_SAFETY 22027 |
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param set EKF2_GPS_POS_X -0.12 |
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param set EKF2_IMU_POS_X -0.12 |
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param set EKF2_TAU_VEL 0.5 |
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param set EKF2_GPS_P_GATE 10 |
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param set EKF2_GPS_V_GATE 10 |
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param set MIS_DIST_1WP 100 |
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param set MIS_DIST_WPS 100000 |
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param set MIS_TAKEOFF_ALT 15 |
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param set NAV_DLL_ACT 0 |
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param set NAV_LOITER_RAD 100 |
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param set SYS_COMPANION 57600 |
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param set SENS_BOARD_ROT 18 |
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fi |
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param set PWM_MAIN_DIS5 1500 |
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param set PWM_MAIN_DIS6 1500 |
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param set PWM_MAIN_DIS7 900 |
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param set PWM_MAIN_DIS8 900 |
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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_RATE 400 |
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set PWM_AUX_OUT 12345 |
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set PWM_AUX_DISARMED 950
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