forked from Archive/PX4-Autopilot
72 lines
1.4 KiB
Plaintext
72 lines
1.4 KiB
Plaintext
#!nsh
|
|
#
|
|
# @name QuadRanger
|
|
#
|
|
# @type Standard VTOL
|
|
# @class VTOL
|
|
#
|
|
# @maintainer Sander Smeets <sander@droneslab.com>
|
|
#
|
|
|
|
sh /etc/init.d/rc.vtol_defaults
|
|
|
|
if [ $AUTOCNF == yes ]
|
|
then
|
|
param set VT_TYPE 2
|
|
param set VT_MOT_COUNT 4
|
|
param set VT_F_TRANS_THR 0.75
|
|
|
|
param set PWM_AUX_REV1 1
|
|
param set PWM_AUX_REV2 1
|
|
|
|
param set MC_ROLL_P 7.0
|
|
param set MC_ROLLRATE_P 0.15
|
|
param set MC_ROLLRATE_I 0.1
|
|
param set MC_ROLLRATE_D 0.004
|
|
param set MC_ROLLRATE_FF 0.0
|
|
param set MC_PITCH_P 7.0
|
|
param set MC_PITCHRATE_P 0.15
|
|
param set MC_PITCHRATE_I 0.1
|
|
param set MC_PITCHRATE_D 0.004
|
|
param set MC_PITCHRATE_FF 0.0
|
|
param set MC_YAW_P 3.5
|
|
param set MC_YAW_FF 0.7
|
|
param set MC_YAWRATE_P 0.6
|
|
param set MC_YAWRATE_I 0.04
|
|
param set MC_YAWRATE_D 0.0
|
|
param set MC_YAWRATE_FF 0.0
|
|
param set MC_YAWRATE_MAX 40.0
|
|
param set MC_YAWRAUTO_MAX 40.0
|
|
|
|
param set MPC_ACC_HOR_MAX 2.0
|
|
param set MPC_Z_VEL_MAX_DN 1.5
|
|
param set MPC_TKO_SPEED 1.5
|
|
param set MPC_LAND_SPEED 0.8
|
|
|
|
param set FW_THR_CRUISE 65.0
|
|
param set FW_PR_P 0.08
|
|
param set FW_PR_FF 0.5
|
|
param set FW_RR_P 0.05
|
|
param set FW_RR_FF 0.6
|
|
|
|
param set MIS_YAW_TMT 10
|
|
|
|
param set VT_ARSP_TRANS 15.0
|
|
param set VT_ARSP_BLEND 8.0
|
|
param set VT_B_TRANS_DUR 4.0
|
|
|
|
param set VT_MOT_COUNT 4
|
|
param set VT_IDLE_PWM_MC 1080
|
|
param set VT_TYPE 2
|
|
fi
|
|
|
|
set MIXER quad_x
|
|
set PWM_OUT 1234
|
|
set PWM_RATE 400
|
|
|
|
set MIXER_AUX vtol_AAERT
|
|
set PWM_ACHDIS 5
|
|
set PWM_AUX_DISARMED 950
|
|
|
|
set MAV_TYPE 22
|