2014-03-04 11:33:18 -04:00
|
|
|
#!nsh
|
|
|
|
|
#
|
|
|
|
|
# ARDrone
|
|
|
|
|
#
|
|
|
|
|
|
2014-03-05 05:50:16 -04:00
|
|
|
echo "[init] 4008_ardrone: PX4FMU on PX4IOAR carrier board"
|
|
|
|
|
|
2014-03-04 11:33:18 -04:00
|
|
|
# Just use the default multicopter settings.
|
|
|
|
|
sh /etc/init.d/rc.mc_defaults
|
|
|
|
|
|
|
|
|
|
#
|
|
|
|
|
# Load default params for this platform
|
|
|
|
|
#
|
2014-03-05 10:07:05 -04:00
|
|
|
if [ $DO_AUTOCONFIG == yes ]
|
2014-03-04 11:33:18 -04:00
|
|
|
then
|
|
|
|
|
# Set all params here, then disable autoconfig
|
2014-03-05 10:07:05 -04:00
|
|
|
param set MC_ROLL_P 5.0
|
|
|
|
|
param set MC_ROLLRATE_P 0.13
|
|
|
|
|
param set MC_ROLLRATE_I 0.0
|
|
|
|
|
param set MC_ROLLRATE_D 0.0
|
|
|
|
|
param set MC_PITCH_P 5.0
|
|
|
|
|
param set MC_PITCHRATE_P 0.13
|
|
|
|
|
param set MC_PITCHRATE_I 0.0
|
|
|
|
|
param set MC_PITCHRATE_D 0.0
|
|
|
|
|
param set MC_YAW_P 1.0
|
2014-03-04 11:33:18 -04:00
|
|
|
param set MC_YAWRATE_P 0.15
|
2014-03-05 10:07:05 -04:00
|
|
|
param set MC_YAWRATE_I 0.0
|
|
|
|
|
param set MC_YAWRATE_D 0.0
|
|
|
|
|
param set MC_YAW_FF 0.15
|
2014-03-13 11:25:43 -03:00
|
|
|
param set BAT_V_SCALING 0.00838095238
|
2014-03-04 11:33:18 -04:00
|
|
|
fi
|
|
|
|
|
|
2014-03-06 07:45:10 -04:00
|
|
|
set OUTPUT_MODE ardrone
|
2014-03-05 11:16:10 -04:00
|
|
|
set USE_IO no
|
2014-03-06 09:44:10 -04:00
|
|
|
set MIXER skip
|
2014-03-13 14:47:31 -03:00
|
|
|
# set MAV_TYPE because no specific mixer is set
|
|
|
|
|
set MAV_TYPE 2
|
