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.
89 lines
2.2 KiB
89 lines
2.2 KiB
#!nsh |
|
# |
|
# @name Sparkle Tech Ranger VTOL |
|
# |
|
# @type Standard VTOL |
|
# |
|
# @maintainer Andreas Antener <andreas@uaventure.com> |
|
# |
|
|
|
sh /etc/init.d/rc.vtol_defaults |
|
|
|
if [ $AUTOCNF == yes ] |
|
then |
|
param set VT_TYPE 2 |
|
param set VT_MOT_COUNT 4 |
|
param set VT_IDLE_PWM_MC 1180 |
|
param set MAV_TYPE 22 |
|
param set VT_ARSP_TRANS 15.0 |
|
param set VT_B_TRANS_DUR 4.0 |
|
param set VT_TRANS_MIN_TM 5.0 |
|
param set VT_TRANS_THR 0.6 |
|
param set VT_TRANS_TIMEOUT 30.0 |
|
|
|
param set FW_AIRSPD_MAX 22.0 |
|
param set FW_AIRSPD_MIN 14.0 |
|
param set FW_AIRSPD_TRIM 16.0 |
|
param set FW_L1_PERIOD 25.0 |
|
param set FW_PR_P 0.060 |
|
param set FW_P_RMAX_NEG 40.0 |
|
param set FW_P_RMAX_POS 40.0 |
|
param set FW_RR_FF 0.4 |
|
param set FW_RR_P 0.04 |
|
param set FW_R_RMAX 40.0 |
|
|
|
param set MC_PITCHRATE_D 0.004 |
|
param set MC_PITCHRATE_I 0.0 |
|
param set MC_PITCHRATE_MAX 60.0 |
|
param set MC_PITCHRATE_P 0.21 |
|
param set MC_PITCH_P 4.0 |
|
param set MC_ROLLRATE_D 0.004 |
|
param set MC_ROLLRATE_I 0.002 |
|
param set MC_ROLLRATE_MAX 60.0 |
|
param set MC_ROLLRATE_P 0.24 |
|
param set MC_ROLL_P 4.0 |
|
param set MC_YAWRATE_I 0.02 |
|
param set MC_YAWRATE_MAX 40.0 |
|
param set MC_YAWRATE_P 0.18 |
|
param set MC_YAWRATE_MAX 40.0 |
|
param set MC_YAWRAUTO_MAX 40.0 |
|
|
|
param set MIS_TAKEOFF_ALT 2.5 |
|
param set MIS_YAW_TMT 20.0 |
|
|
|
param set MPC_ACC_HOR_MAX 1.0 |
|
param set MPC_HOLD_MAX_XY 0.5 |
|
param set MPC_HOLD_MAX_Z 0.5 |
|
param set MPC_LAND_SPEED 1.0 |
|
param set MPC_MANTHR_MIN 0.05 |
|
param set MPC_MAN_Y_MAX 120.0 |
|
param set MPC_THR_MIN 0.07 |
|
param set MPC_TILTMAX_AIR 35.0 |
|
param set MPC_TILTMAX_LND 20.0 |
|
param set MPC_TKO_SPEED 1.0 |
|
param set MPC_XY_FF 0.1 |
|
param set MPC_XY_P 0.3 |
|
param set MPC_XY_VEL_MAX 3.0 |
|
param set MPC_XY_VEL_P 0.05 |
|
param set MPC_Z_FF 0.3 |
|
param set MPC_Z_P 0.5 |
|
param set MPC_Z_VEL_MAX 1.0 |
|
param set MPC_Z_VEL_P 0.1 |
|
|
|
param set NAV_ACC_RAD 3.0 |
|
|
|
param set PWM_AUX_REV1 1 |
|
param set PWM_AUX_REV2 1 |
|
param set PWM_AUX_REV3 1 |
|
param set PWM_AUX_REV4 1 |
|
fi |
|
|
|
set MIXER vtol_quad_x |
|
set PWM_OUT 1234 |
|
set PWM_RATE 400 |
|
|
|
set MIXER_AUX vtol_AAERT |
|
set PWM_ACHDIS 5 |
|
set PWM_AUX_DISARMED 950 |
|
|
|
set MAV_TYPE 22
|
|
|