forked from Archive/PX4-Autopilot
46 lines
985 B
Plaintext
46 lines
985 B
Plaintext
#!nsh
|
|
#
|
|
# @name Steadidrone QU4D
|
|
#
|
|
# @type Quadrotor Wide
|
|
#
|
|
# @output MAIN1 motor 1
|
|
# @output MAIN2 motor 2
|
|
# @output MAIN3 motor 3
|
|
# @output MAIN4 motor 4
|
|
# @output MAIN5 feed-through of RC AUX1 channel
|
|
# @output MAIN6 feed-through of RC AUX2 channel
|
|
#
|
|
# @output AUX1 feed-through of RC AUX1 channel
|
|
# @output AUX2 feed-through of RC AUX2 channel
|
|
# @output AUX3 feed-through of RC AUX3 channel
|
|
# @output AUX4 feed-through of RC FLAPS channel
|
|
#
|
|
# @maintainer Thomas Gubler <thomas@px4.io>
|
|
#
|
|
|
|
sh /etc/init.d/rc.mc_defaults
|
|
|
|
if [ $AUTOCNF == yes ]
|
|
then
|
|
param set MC_ROLL_P 7.0
|
|
param set MC_ROLLRATE_P 0.13
|
|
param set MC_ROLLRATE_I 0.05
|
|
param set MC_ROLLRATE_D 0.004
|
|
param set MC_PITCH_P 7.0
|
|
param set MC_PITCHRATE_P 0.19
|
|
param set MC_PITCHRATE_I 0.05
|
|
param set MC_PITCHRATE_D 0.004
|
|
param set MC_YAW_P 4.0
|
|
param set MC_YAWRATE_P 0.2
|
|
param set MC_YAWRATE_I 0.1
|
|
param set MC_YAWRATE_D 0.0
|
|
param set MC_YAW_FF 0.5
|
|
|
|
param set BAT_N_CELLS 4
|
|
fi
|
|
|
|
set MIXER quad_w
|
|
|
|
set PWM_OUT 1234
|