forked from Archive/PX4-Autopilot
52 lines
1.1 KiB
Plaintext
52 lines
1.1 KiB
Plaintext
#!nsh
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#
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# @name Phantom FPV Flying Wing
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#
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# @url https://pixhawk.org/platforms/planes/z-84_wing_wing
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#
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# @type Flying Wing
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#
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# @output MAIN1 left aileron
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# @output MAIN2 right aileron
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# @output MAIN4 throttle
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#
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# @output AUX1 feed-through of RC AUX1 channel
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# @output AUX2 feed-through of RC AUX2 channel
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# @output AUX3 feed-through of RC AUX3 channel
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#
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# @maintainer Simon Wilks <simon@px4.io>
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#
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sh /etc/init.d/rc.fw_defaults
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if [ $AUTOCNF == yes ]
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then
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param set FW_AIRSPD_MIN 13
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param set FW_AIRSPD_TRIM 15
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param set FW_AIRSPD_MAX 25
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param set FW_R_TC 0.3
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param set FW_P_TC 0.3
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param set FW_L1_DAMPING 0.75
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param set FW_L1_PERIOD 15
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param set FW_PR_FF 0.2
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param set FW_PR_IMAX 0.2
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param set FW_PR_P 0.03
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param set FW_P_LIM_MAX 50
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param set FW_P_LIM_MIN -50
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param set FW_P_ROLLFF 1
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param set FW_RR_FF 0.5
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param set FW_RR_IMAX 0.2
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param set FW_RR_P 0.08
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param set FW_R_LIM 50
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param set FW_R_RMAX 0
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# Bottom of bay and nominal zero-pitch attitude differ
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# the payload bay is pitched up about 7 degrees
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param set SENS_BOARD_Y_OFF 7.0
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fi
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set MIXER phantom
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# Provide ESC a constant 1000 us pulse
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set PWM_OUT 4
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set PWM_DISARMED 1000
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