forked from Archive/PX4-Autopilot
49 lines
1.0 KiB
Plaintext
49 lines
1.0 KiB
Plaintext
#!nsh
|
|
#
|
|
# Wing Wing (aka Z-84) Flying Wing
|
|
#
|
|
# Simon Wilks <simon@px4.io>
|
|
#
|
|
|
|
sh /etc/init.d/rc.fw_defaults
|
|
|
|
if [ $AUTOCNF == yes ]
|
|
then
|
|
param set BAT_N_CELLS 2
|
|
param set FW_AIRSPD_MAX 15
|
|
param set FW_AIRSPD_MIN 10
|
|
param set FW_AIRSPD_TRIM 13
|
|
param set FW_ATT_TC 0.3
|
|
param set FW_L1_DAMPING 0.74
|
|
param set FW_L1_PERIOD 16
|
|
param set FW_LND_ANG 15
|
|
param set FW_LND_FLALT 5
|
|
param set FW_LND_HHDIST 15
|
|
param set FW_LND_HVIRT 13
|
|
param set FW_LND_TLALT 5
|
|
param set FW_THR_LND_MAX 0
|
|
param set FW_PR_FF 0.35
|
|
param set FW_PR_I 0.005
|
|
param set FW_PR_IMAX 0.4
|
|
param set FW_PR_P 0.08
|
|
param set FW_RR_FF 0.6
|
|
param set FW_RR_I 0.005
|
|
param set FW_RR_IMAX 0.2
|
|
param set FW_RR_P 0.04
|
|
param set MT_TKF_PIT_MAX 30.0
|
|
param set MT_ACC_D 0.2
|
|
param set MT_ACC_P 0.6
|
|
param set MT_A_LP 0.5
|
|
param set MT_PIT_OFF 0.1
|
|
param set MT_PIT_I 0.1
|
|
param set MT_THR_OFF 0.65
|
|
param set MT_THR_I 0.35
|
|
param set MT_THR_P 0.2
|
|
param set MT_THR_FF 1.5
|
|
fi
|
|
|
|
set MIXER wingwing
|
|
# Provide ESC a constant 1000 us pulse
|
|
set PWM_OUT 4
|
|
set PWM_DISARMED 1000
|