From 2a556f91edb035e1a63e9fb3692876aaf672199b Mon Sep 17 00:00:00 2001 From: Roman Date: Tue, 16 Feb 2016 22:55:15 +0100 Subject: [PATCH] added autoconfig gains for caipiroshka --- .../init.d/13001_caipirinha_vtol | 21 +++++++++++++++++++ 1 file changed, 21 insertions(+) diff --git a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol index 98143054ec..0efb8d48ba 100644 --- a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol +++ b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol @@ -14,6 +14,27 @@ sh /etc/init.d/rc.vtol_defaults +if [ $AUTOCNF == yes ] +then + param set MC_ROLL_P 6.0 + param set MC_ROLLRATE_P 0.12 + param set MC_ROLLRATE_I 0.002 + param set MC_ROLLRATE_D 0.003 + param set MC_ROLLRATE_FF 0.0 + param set MC_PITCH_P 4.5 + param set MC_PITCHRATE_P 0.3 + param set MC_PITCHRATE_I 0.002 + param set MC_PITCHRATE_D 0.003 + param set MC_PITCHRATE_FF 0.0 + param set MC_YAW_P 3.8 + param set MC_YAW_FF 0.5 + param set MC_YAWRATE_P 0.22 + param set MC_YAWRATE_I 0.02 + param set MC_YAWRATE_D 0.0 + param set MC_YAWRATE_FF 0.0 + +fi + set MIXER caipirinha_vtol set PWM_OUT 12