forked from Archive/PX4-Autopilot
43 lines
777 B
Plaintext
43 lines
777 B
Plaintext
#!nsh
|
|
#
|
|
# @name Crazyflie 2.0
|
|
#
|
|
# @type Quadrotor x
|
|
#
|
|
|
|
sh /etc/init.d/4001_quad_x
|
|
|
|
|
|
if [ $AUTOCNF == yes ]
|
|
then
|
|
param set COM_RC_IN_MODE 2
|
|
param set BAT_N_CELLS 1
|
|
param set BAT_CAPACITY 240
|
|
param set BAT_SOURCE 1
|
|
|
|
param set PWM_DISARMED 0
|
|
param set PWM_MIN 0
|
|
param set PWM_MAX 255
|
|
|
|
param set SYS_COMPANION 20
|
|
|
|
param set MC_PITCHRATE_D 0.0015
|
|
param set MC_PITCHRATE_I 0.05
|
|
param set MC_PITCHRATE_P 0.045
|
|
param set MC_PITCH_P 6.5
|
|
param set MC_ROLLRATE_D 0.0015
|
|
param set MC_ROLLRATE_I 0.05
|
|
param set MC_ROLLRATE_P 0.045
|
|
param set MC_ROLL_P 6.5
|
|
param set MC_YAW_P 3.0
|
|
|
|
param set CBRK_SUPPLY_CHK 894281
|
|
param set CBRK_USB_CHK 197848
|
|
fi
|
|
|
|
set PWM_MIN none
|
|
set PWM_MAX none
|
|
set PWM_DISARMED none
|
|
# Will run the motors at 328.125 kHz (recommended)
|
|
set PWM_RATE 3921
|