px4-firmware/ROMFS/px4fmu_common/init.d/15001_coax_heli

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#!nsh
#
# @name Esky (Big) Lama v4
#
# @type Coaxial Helicopter
#
# @output MAIN1 Left swashplate servomotor, pitch axis
# @output MAIN2 Right swashplate servomotor, roll axis
# @output MAIN3 Upper rotor (CCW)
# @output MAIN4 Lower rotor (CW)
#
# @maintainer Emmanuel Roussel
#
sh /etc/init.d/rc.mc_defaults
set MIXER coax
if [ $AUTOCNF == yes ]
then
param set PE_VELNE_NOISE 0.5
param set PE_VELD_NOISE 0.35
param set PE_POSNE_NOISE 0.5
param set PE_POSD_NOISE 1.25
param set NAV_ACC_RAD 2.0
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
param set PWM_DISARMED 900
param set PWM_MIN 1075
param set PWM_MAX 1950
param set MC_ROLL_P 6.5
param set MC_ROLLRATE_P 0.17
param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.005
param set MC_ROLLRATE_FF 0
param set MC_PITCH_P 6.5
param set MC_PITCHRATE_P 0.17
param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.005
param set MC_PITCHRATE_FF 0
param set MC_YAW_P 2
param set MC_YAW_FF 0.5
param set MC_YAWRATE_P 0.1
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_FF 0
fi
# use PWM parameters for throttle channel
set PWM_OUT 34
set PWM_RATE 400
set PWM_DISARMED p:PWM_DISARMED
set PWM_MIN p:PWM_MIN
set PWM_MAX p:PWM_MAX
# This is the gimbal pass mixer
set MIXER_AUX pass
set PWM_AUX_RATE 50
set PWM_AUX_OUT 1234
set PWM_AUX_DISARMED 1500
set PWM_AUX_MIN 1000
set PWM_AUX_MAX 2000