forked from Archive/PX4-Autopilot
70 lines
1.5 KiB
Plaintext
70 lines
1.5 KiB
Plaintext
#!nsh
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#
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# @name Fun Cub Quad VTOL
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# @type Standard VTOL
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# @maintainer Simon Wilks <simon@uaventure.com>
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# @output MAIN1 Front right motor: CCW
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# @output MAIN2 Back left motor: CCW
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# @output MAIN3 Front left motor: CW
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# @output MAIN4 Back right motor: CW
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# @output AUX1 Aileron 1
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# @output AUX2 Aileron 2
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# @output AUX3 Elevator
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# @output AUX4 Rudder
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# @output AUX5 Throttle
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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 VT_ARSP_TRANS 12
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param set VT_ARSP_BLEND 6
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param set MC_ROLL_P 6.0
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param set MC_ROLLRATE_P 0.17
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param set MC_ROLLRATE_I 0.002
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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 6.0
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param set MC_PITCHRATE_P 0.19
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param set MC_PITCHRATE_I 0.002
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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 2.8
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param set MC_YAW_FF 0.5
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param set MC_YAWRATE_P 0.22
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param set MC_YAWRATE_I 0.02
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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
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param set MC_YAWRAUTO_MAX 40
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param set FW_PR_FF 0.5
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param set FW_PR_I 0.02
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param set FW_PR_IMAX 0.4
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param set FW_PR_P 0.08
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param set FW_RR_FF 0.6
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param set FW_RR_I 0.01
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param set FW_RR_IMAX 0.2
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param set FW_RR_P 0.05
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param set FW_THR_CRUISE 0.75
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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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