2013-07-18 17:49:04 -03:00
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#!nsh
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2014-01-10 17:04:56 -04:00
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#
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# DJI Flame Wheel F450 Quadcopter
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#
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2014-01-09 05:05:24 -04:00
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# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
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2014-01-10 17:04:56 -04:00
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#
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2014-01-09 05:05:24 -04:00
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2014-01-08 15:55:12 -04:00
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if [ $DO_AUTOCONFIG == yes ]
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2013-07-18 17:49:04 -03:00
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then
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2014-01-08 15:55:12 -04:00
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#
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# Default parameters for this platform
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#
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2014-01-31 06:36:25 -04:00
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param set MC_ROLL_P 7.0
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param set MC_ROLLRATE_P 0.12
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param set MC_ROLLRATE_I 0.0
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param set MC_ROLLRATE_D 0.004
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param set MC_PITCH_P 7.0
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param set MC_PITCHRATE_P 0.12
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param set MC_PITCHRATE_I 0.0
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param set MC_PITCHRATE_D 0.004
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2014-01-20 06:10:50 -04:00
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param set MC_YAW_P 2.0
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2013-09-03 18:16:32 -03:00
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param set MC_YAWRATE_P 0.3
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2014-01-09 05:05:24 -04:00
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param set MC_YAWRATE_I 0.2
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param set MC_YAWRATE_D 0.005
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2014-01-31 07:18:52 -04:00
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param set MPC_THR_MAX 1.0
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param set MPC_THR_MIN 0.1
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param set MPC_XY_P 1.0
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param set MPC_XY_VEL_P 0.1
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param set MPC_XY_VEL_I 0.02
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param set MPC_XY_VEL_D 0.01
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param set MPC_XY_VEL_MAX 5
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param set MPC_XY_FF 0.5
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param set MPC_Z_P 1.0
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param set MPC_Z_VEL_P 0.1
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param set MPC_Z_VEL_I 0.02
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param set MPC_Z_VEL_D 0.0
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param set MPC_Z_VEL_MAX 3
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param set MPC_Z_FF 0.5
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param set MPC_TILT_MAX 1.0
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param set MPC_LAND_SPEED 1.0
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param set MPC_LAND_TILT 0.3
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2013-07-18 17:49:04 -03:00
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fi
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2014-01-10 08:18:34 -04:00
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set VEHICLE_TYPE mc
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2014-01-14 19:02:57 -04:00
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set MIXER FMU_quad_x
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2014-01-10 08:18:34 -04:00
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2014-01-14 19:02:57 -04:00
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set PWM_OUTPUTS 1234
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2014-01-10 08:18:34 -04:00
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set PWM_RATE 400
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2014-01-09 05:05:24 -04:00
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# DJI ESC range
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set PWM_DISARMED 900
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2014-01-08 15:55:12 -04:00
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set PWM_MIN 1200
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set PWM_MAX 1900
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