forked from Archive/PX4-Autopilot
36 lines
660 B
Plaintext
36 lines
660 B
Plaintext
#!nsh
|
|
#
|
|
# 3DR Iris Quadcopter
|
|
#
|
|
# Anton Babushkin <anton@px4.io>
|
|
#
|
|
|
|
sh /etc/init.d/rc.mc_defaults
|
|
|
|
if [ $DO_AUTOCONFIG == yes ]
|
|
then
|
|
# TODO tune roll/pitch separately
|
|
param set MC_ROLL_P 7.0
|
|
param set MC_ROLLRATE_P 0.13
|
|
param set MC_ROLLRATE_I 0.0
|
|
param set MC_ROLLRATE_D 0.004
|
|
param set MC_PITCH_P 7.0
|
|
param set MC_PITCHRATE_P 0.13
|
|
param set MC_PITCHRATE_I 0.0
|
|
param set MC_PITCHRATE_D 0.004
|
|
param set MC_YAW_P 2.5
|
|
param set MC_YAWRATE_P 0.25
|
|
param set MC_YAWRATE_I 0.25
|
|
param set MC_YAWRATE_D 0.0
|
|
|
|
param set BAT_V_SCALING 0.00989
|
|
param set BAT_C_SCALING 0.0124
|
|
fi
|
|
|
|
set MIXER FMU_quad_w
|
|
|
|
set PWM_OUTPUTS 1234
|
|
|
|
set PWM_MIN 1200
|
|
set PWM_MAX 1950
|