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