From 8ed6612c1a8838acd9f0e9a386800c4136b98223 Mon Sep 17 00:00:00 2001 From: Simon Wilks Date: Fri, 9 Jan 2015 12:44:31 +0100 Subject: [PATCH] Fix PWM OUT command and update fligth tested params. --- .../px4fmu_common/init.d/10018_tbs_endurance | 22 ++++++++++++------- 1 file changed, 14 insertions(+), 8 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/10018_tbs_endurance b/ROMFS/px4fmu_common/init.d/10018_tbs_endurance index eeb9b48b29..e83a864d8d 100644 --- a/ROMFS/px4fmu_common/init.d/10018_tbs_endurance +++ b/ROMFS/px4fmu_common/init.d/10018_tbs_endurance @@ -2,7 +2,7 @@ # # Team Blacksheep Discovery Long Range Quadcopter # -# Setup: 15 x 6.5" Props, 6S 4000mAh TBS LiPo, TBS 30A ESCs, TBS 400kV Motors +# Setup: 15 x 5" Props, 6S 4000mAh TBS LiPo, TBS 30A ESCs, TBS 400kV Motors # # Simon Wilks # @@ -11,21 +11,27 @@ sh /etc/init.d/rc.mc_defaults if [ $AUTOCNF == yes ] then + param set BAT_N_CELLS 6 + param set BAT_V_EMPTY 3.5 + param set MC_ROLL_P 7.0 - param set MC_ROLLRATE_P 0.07 + param set MC_ROLLRATE_P 0.08 param set MC_ROLLRATE_I 0.02 param set MC_ROLLRATE_D 0.003 param set MC_PITCH_P 7.0 - param set MC_PITCHRATE_P 0.1 - param set MC_PITCHRATE_I 0.05 - param set MC_PITCHRATE_D 0.003 + param set MC_PITCHRATE_P 0.13 + param set MC_PITCHRATE_I 0.02 + param set MC_PITCHRATE_D 0.005 param set MC_YAW_P 2.8 - param set MC_YAWRATE_P 0.4 + param set MC_YAWRATE_P 0.2 param set MC_YAWRATE_I 0.1 param set MC_YAWRATE_D 0.0 + + param set MPC_XY_FF 0.2 + param set MPC_XY_VEL_MAX 2 fi set MIXER quad_w -set PWM_OUTPUTS 1234 -set PWM_MIN 1200 +set PWM_OUT 1234 +set PWM_MIN 1080