forked from Archive/PX4-Autopilot
80 lines
1.7 KiB
Plaintext
80 lines
1.7 KiB
Plaintext
#!nsh
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#
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# @name Intel Aero Ready to Fly Drone
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#
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# @board px4fmu-v2 exclude
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# @board px4fmu-v3 exclude
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# @board px4fmu-v4 exclude
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# @board px4fmu-v4pro exclude
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# @board px4fmu-v5 exclude
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#
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# @type Quadrotor x
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# @class Copter
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#
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# @maintainer Beat Kueng <beat@px4.io>
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#
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sh /etc/init.d/rc.mc_defaults
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#
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# Load default params for this platform
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#
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if [ $AUTOCNF == yes ]
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then
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# Set all params here, then disable autoconfig
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param set COM_DISARM_LAND 3
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param set LNDMC_Z_VEL_MAX 2.0000
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param set MC_ROLL_P 8.0000
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param set MC_ROLLRATE_P 0.1300
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param set MC_ROLLRATE_I 0.07
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param set MC_ROLLRATE_D 0.0012
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param set MC_ROLLRATE_MAX 360
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param set MC_PITCH_P 8.0000
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param set MC_PITCHRATE_P 0.1300
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param set MC_PITCHRATE_I 0.07
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param set MC_PITCHRATE_D 0.0012
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param set MC_PITCHRATE_MAX 360
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param set MC_YAW_P 4.0
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param set MC_YAWRATE_P 0.119999997317790985
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param set MC_YAWRATE_I 0.050000000745058060
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param set MC_YAWRATE_D 0.0
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param set MC_YAW_FF 0.5
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param set MPC_LAND_SPEED 0.7000
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param set MPC_MANTHR_MIN 0.0400
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param set MPC_THR_HOVER 0.5000
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param set MPC_THR_MAX 0.9400
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param set MPC_THR_MIN 0.1000
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param set MPC_XY_CRUISE 8.0000
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param set MPC_XY_P 1.5000
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param set MPC_XY_VEL_P 0.1500
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param set MPC_Z_P 1.5000
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param set MPC_Z_VEL_I 0.1500
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param set MPC_Z_VEL_MAX_DN 4.0000
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param set MPC_Z_VEL_MAX_UP 5.0000
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param set MPC_Z_VEL_P 0.8000
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param set EKF2_GPS_POS_X -0.0600
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param set EKF2_GPS_POS_Z -0.1000
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param set EKF2_MIN_OBS_DT 50
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param set EKF2_BARO_GATE 10.0
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param set EKF2_BARO_NOISE 5.0
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param set EKF2_ACC_NOISE 0.7
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param set SYS_LOGGER 1
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fi
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tap_esc start -d /dev/ttyS0 -n 4
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usleep 300000
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set OUTPUT_MODE tap_esc
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set MIXER quad_x
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set USE_IO no
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param set SYS_COMPANION 921600
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set MAVLINK_COMPANION_DEVICE /dev/ttyS1
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