2013-07-18 17:49:04 -03:00
|
|
|
#!nsh
|
2014-01-10 17:04:56 -04:00
|
|
|
#
|
|
|
|
# 3DR Iris Quadcopter
|
|
|
|
#
|
2014-02-01 10:46:04 -04:00
|
|
|
# Anton Babushkin <anton.babushkin@me.com>
|
2014-01-10 17:04:56 -04:00
|
|
|
#
|
2013-07-18 17:49:04 -03:00
|
|
|
|
2014-02-07 17:28:42 -04:00
|
|
|
sh /etc/init.d/rc.mc_defaults
|
|
|
|
|
2014-01-10 08:18:34 -04:00
|
|
|
if [ $DO_AUTOCONFIG == yes ]
|
|
|
|
then
|
2014-02-11 18:24:49 -04:00
|
|
|
# TODO tune roll/pitch separately
|
2014-03-10 14:48:07 -03:00
|
|
|
param set MC_ROLL_P 7.0
|
2014-02-11 18:24:49 -04:00
|
|
|
param set MC_ROLLRATE_P 0.13
|
|
|
|
param set MC_ROLLRATE_I 0.0
|
|
|
|
param set MC_ROLLRATE_D 0.004
|
2014-03-10 14:48:07 -03:00
|
|
|
param set MC_PITCH_P 7.0
|
2014-02-11 18:24:49 -04:00
|
|
|
param set MC_PITCHRATE_P 0.13
|
|
|
|
param set MC_PITCHRATE_I 0.0
|
|
|
|
param set MC_PITCHRATE_D 0.004
|
2014-04-28 12:26:42 -03:00
|
|
|
param set MC_YAW_P 2.5
|
|
|
|
param set MC_YAWRATE_P 0.25
|
|
|
|
param set MC_YAWRATE_I 0.25
|
2014-02-11 18:24:49 -04:00
|
|
|
param set MC_YAWRATE_D 0.0
|
|
|
|
|
2014-01-14 16:59:48 -04:00
|
|
|
param set BAT_V_SCALING 0.00989
|
|
|
|
param set BAT_C_SCALING 0.0124
|
2013-08-28 09:58:29 -03:00
|
|
|
fi
|
2014-01-10 17:04:56 -04:00
|
|
|
|
2014-01-14 19:02:57 -04:00
|
|
|
set MIXER FMU_quad_w
|
2014-01-10 17:04:56 -04:00
|
|
|
|
2014-01-14 19:02:57 -04:00
|
|
|
set PWM_OUTPUTS 1234
|