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introduce TBS caipirinha autostart script

This commit is contained in:
Thomas Gubler 2014-03-16 14:47:29 +01:00
parent 39274f4bf3
commit c1ee1abf27
2 changed files with 47 additions and 0 deletions
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42
ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha Normal file
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@ -0,0 +1,42 @@
#!nsh
#
# TBS Caipirinha Flying Wing
#
# Thomas Gubler <thomasgubler@gmail.com>
#
sh /etc/init.d/rc.fw_defaults
if [ $DO_AUTOCONFIG == yes ]
then
# TODO: these are the X5 default parameters, update them to the caipi
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 0.3
param set FW_PR_I 0
param set FW_PR_IMAX 0.2
param set FW_PR_P 0.03
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 0.3
param set FW_RR_I 0
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.03
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_Q

5
ROMFS/px4fmu_common/init.d/rc.autostart
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@ -97,6 +97,11 @@ then
sh /etc/init.d/3034_fx79
fi
if param compare SYS_AUTOSTART 3100
then
sh /etc/init.d/3100_tbs_caipirinha
fi
#
# Quad X
#