forked from Archive/PX4-Autopilot
38 lines
696 B
Plaintext
38 lines
696 B
Plaintext
|
#!nsh
|
||
|
|
#
|
||
|
|
# Generic 10” Octo coaxial geometry
|
||
|
|
#
|
||
|
|
# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
|
||
|
|
#
|
||
|
|
|
||
|
|
if [ $DO_AUTOCONFIG == yes ]
|
||
|
|
then
|
||
|
|
#
|
||
|
|
# Default parameters for this platform
|
||
|
|
#
|
||
|
|
param set MC_ATT_P 7.0
|
||
|
|
param set MC_ATT_I 0.0
|
||
|
|
param set MC_ATT_D 0.0
|
||
|
|
param set MC_ATTRATE_P 0.12
|
||
|
|
param set MC_ATTRATE_I 0.0
|
||
|
|
param set MC_ATTRATE_D 0.004
|
||
|
|
param set MC_YAWPOS_P 2.0
|
||
|
|
param set MC_YAWPOS_I 0.0
|
||
|
|
param set MC_YAWPOS_D 0.0
|
||
|
|
param set MC_YAWRATE_P 0.3
|
||
|
|
param set MC_YAWRATE_I 0.2
|
||
|
|
param set MC_YAWRATE_D 0.005
|
||
|
|
|
||
|
|
# TODO add default MPC parameters
|
||
|
|
fi
|
||
|
|
|
||
|
|
set VEHICLE_TYPE mc
|
||
|
|
set MIXER FMU_octo_cox
|
||
|
|
|
||
|
|
set PWM_OUTPUTS 1234
|
||
|
|
set PWM_RATE 400
|
||
|
|
# DJI ESC range
|
||
|
|
set PWM_DISARMED 900
|
||
|
|
set PWM_MIN 1200
|
||
|
|
set PWM_MAX 1900
|