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53 lines
1.1 KiB
53 lines
1.1 KiB
#!nsh |
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# |
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# @name Esky (Big) Lama v4 |
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# |
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# @type Coaxial Helicopter |
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# |
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# @output MAIN1 Left swashplate servomotor, pitch axis |
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# @output MAIN2 Right swashplate servomotor, roll axis |
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# @output MAIN3 Upper rotor (CCW) |
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# @output MAIN4 Lower rotor (CW) |
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# |
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# @maintainer Emmanuel Roussel |
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# |
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sh /etc/init.d/rc.mc_defaults |
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set MIXER coax |
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if [ $AUTOCNF == yes ] |
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then |
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param set NAV_ACC_RAD 2.0 |
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param set RTL_RETURN_ALT 30.0 |
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param set RTL_DESCEND_ALT 10.0 |
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param set PWM_DISARMED 900 |
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param set PWM_MIN 1075 |
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param set PWM_MAX 1950 |
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param set MC_ROLL_P 6.5 |
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param set MC_ROLLRATE_P 0.17 |
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param set MC_ROLLRATE_I 0.05 |
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param set MC_ROLLRATE_D 0.005 |
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param set MC_ROLLRATE_FF 0 |
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param set MC_PITCH_P 6.5 |
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param set MC_PITCHRATE_P 0.17 |
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param set MC_PITCHRATE_I 0.05 |
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param set MC_PITCHRATE_D 0.005 |
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param set MC_PITCHRATE_FF 0 |
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param set MC_YAW_P 2 |
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param set MC_YAW_FF 0.5 |
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param set MC_YAWRATE_P 0.1 |
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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 |
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fi |
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# use PWM parameters for throttle channel |
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set PWM_OUT 34 |
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set PWM_RATE 400 |
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# This is the gimbal pass mixer |
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set MIXER_AUX pass |
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set PWM_AUX_RATE 50 |
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set PWM_AUX_OUT 1234
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