forked from Archive/PX4-Autopilot
44 lines
964 B
Plaintext
44 lines
964 B
Plaintext
#!nsh
|
|
|
|
set VEHICLE_TYPE mc
|
|
|
|
if [ $DO_AUTOCONFIG == yes ]
|
|
then
|
|
param set MC_ROLL_P 7.0
|
|
param set MC_ROLLRATE_P 0.1
|
|
param set MC_ROLLRATE_I 0.0
|
|
param set MC_ROLLRATE_D 0.003
|
|
param set MC_PITCH_P 7.0
|
|
param set MC_PITCHRATE_P 0.1
|
|
param set MC_PITCHRATE_I 0.0
|
|
param set MC_PITCHRATE_D 0.003
|
|
param set MC_YAW_P 2.8
|
|
param set MC_YAWRATE_P 0.2
|
|
param set MC_YAWRATE_I 0.0
|
|
param set MC_YAWRATE_D 0.0
|
|
param set MC_YAW_FF 0.5
|
|
|
|
param set MPC_THR_MAX 1.0
|
|
param set MPC_THR_MIN 0.1
|
|
param set MPC_XY_P 1.0
|
|
param set MPC_XY_VEL_P 0.1
|
|
param set MPC_XY_VEL_I 0.02
|
|
param set MPC_XY_VEL_D 0.01
|
|
param set MPC_XY_VEL_MAX 5
|
|
param set MPC_XY_FF 0.5
|
|
param set MPC_Z_P 1.0
|
|
param set MPC_Z_VEL_P 0.1
|
|
param set MPC_Z_VEL_I 0.02
|
|
param set MPC_Z_VEL_D 0.0
|
|
param set MPC_Z_VEL_MAX 3
|
|
param set MPC_Z_FF 0.5
|
|
param set MPC_TILT_MAX 1.0
|
|
param set MPC_LAND_SPEED 1.0
|
|
param set MPC_LAND_TILT 0.3
|
|
fi
|
|
|
|
set PWM_RATE 400
|
|
set PWM_DISARMED 900
|
|
set PWM_MIN 1075
|
|
set PWM_MAX 2000
|