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Startup scripts: move X5 attitude parameters back to X5 script and only leave airframe independent params in FW defaults script

This commit is contained in:
Julian Oes 2014-02-08 00:32:57 +01:00
parent de8a9268f3
commit 0a87f1d01c
3 changed files with 31 additions and 28 deletions
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29
ROMFS/px4fmu_common/init.d/3032_skywalker_x5
View File

@ -7,4 +7,33 @@
sh /etc/init.d/rc.fw_defaults
if [ $DO_AUTOCONFIG == yes ]
then
param set FW_AIRSPD_MIN 15
param set FW_AIRSPD_TRIM 20
param set FW_AIRSPD_MAX 40
param set FW_ATT_TC 0.3
param set FW_L1_DAMPING 0.74
param set FW_L1_PERIOD 15
param set FW_PR_FF 0.8
param set FW_PR_I 0
param set FW_PR_IMAX 0.2
param set FW_PR_P 0.05
param set FW_P_LIM_MAX 45
param set FW_P_LIM_MIN -45
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 0
param set FW_RR_FF 0.6
param set FW_RR_I 0
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.05
param set FW_R_LIM 60
param set FW_R_RMAX 0
param set FW_T_HRATE_P 0.01
param set FW_T_RLL2THR 15
param set FW_T_SRATE_P 0.01
param set FW_T_TIME_CONST 5
fi
set MIXER FMU_X5

28
ROMFS/px4fmu_common/init.d/rc.fw_defaults
View File

@ -5,34 +5,8 @@ set VEHICLE_TYPE fw
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
# Default parameters for FW
#
param set FW_AIRSPD_MIN 15
param set FW_AIRSPD_TRIM 20
param set FW_AIRSPD_MAX 80
param set FW_ATT_TC 0.3
param set FW_L1_DAMPING 0.74
param set FW_L1_PERIOD 15
param set FW_PR_FF 0.8
param set FW_PR_I 0
param set FW_PR_IMAX 0.2
param set FW_PR_P 0.05
param set FW_P_LIM_MAX 45
param set FW_P_LIM_MIN -45
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 0
param set FW_RR_FF 0.6
param set FW_RR_I 0
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.05
param set FW_R_LIM 60
param set FW_R_RMAX 0
param set FW_T_HRATE_P 0.01
param set FW_T_RLL2THR 15
param set FW_T_SRATE_P 0.01
param set FW_T_TIME_CONST 5
param set NAV_LAND_ALT 90
param set NAV_RTL_ALT 100
param set NAV_RTL_LAND_T -1

2
ROMFS/px4fmu_common/init.d/rc.mc_defaults
View File

@ -5,7 +5,7 @@ set VEHICLE_TYPE fw
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
# Default parameters for MC
#
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.12