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114 lines
2.6 KiB
114 lines
2.6 KiB
#!nsh |
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# |
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# @name DeltaQuad |
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# @type Standard VTOL |
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# @maintainer Sander Smeets <sander@droneslab.com> |
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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 AUX1 Right elevon |
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# @output AUX2 Left elevon |
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# @output AUX3 Motor |
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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 VT_TYPE 2 |
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param set VT_MOT_COUNT 4 |
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param set VT_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 8 |
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param set VT_B_TRANS_DUR 5 |
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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 2 |
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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 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_THR_CRUISE 0.68 |
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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 20 |
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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 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_YAW_FF 0.5 |
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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 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 4 |
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param set MPC_ACC_HOR_MAX 2.0 |
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param set MPC_LAND_SPEED 1.5 |
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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 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 SYS_COMPANION 57600 |
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fi |
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set MIXER vtol_quad_x |
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set PWM_OUT 1234 |
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set PWM_RATE 400 |
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set MIXER_AUX vtol_delta |
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set PWM_ACHDIS 3 |
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set PWM_AUX_DISARMED 950 |
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set MAV_TYPE 22
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