From a3b57c68208fd51d5c8d85be7fd6c9c44777d364 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 15 Feb 2016 16:03:22 +0100 Subject: [PATCH] Add REAPER frame --- ROMFS/px4fmu_common/init.d/4040_reaper | 41 ++++++++++++++++++++++++++ 1 file changed, 41 insertions(+) create mode 100644 ROMFS/px4fmu_common/init.d/4040_reaper diff --git a/ROMFS/px4fmu_common/init.d/4040_reaper b/ROMFS/px4fmu_common/init.d/4040_reaper new file mode 100644 index 0000000000..69bebbd665 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/4040_reaper @@ -0,0 +1,41 @@ +#!nsh +# +# @name Reaper 500 Quad +# +# @type Quadrotor x +# +# @maintainer Blankered +# + +sh /etc/init.d/rc.mc_defaults + +if [ $AUTOCNF == yes ] +then + param set MC_ROLL_P 6.5 + param set MC_ROLLRATE_P 0.14 + param set MC_ROLLRATE_I 0.1 + param set MC_ROLLRATE_D 0.004 + param set MC_PITCH_P 6.0 + param set MC_PITCHRATE_P 0.14 + param set MC_PITCHRATE_I 0.09 + param set MC_PITCHRATE_D 0.004 + param set MC_YAW_P 4 + + param set NAV_ACC_RAD 2.0 + param set RTL_RETURN_ALT 30.0 + param set RTL_DESCEND_ALT 10.0 +fi + +set MIXER quad_h + +set PWM_RATE 50 +set PWM_OUT 1234 +set PWM_MIN 1100 +set PWM_MAX 1900 +set PWM_DISARMED 1500 + +set MIXER_AUX pass +set PWM_AUX_RATE 50 +set PWM_AUX_OUT 1234 +set PWM_AUX_MIN 1000 +set PWM_AUX_MAX 2000