forked from Archive/PX4-Autopilot
66 lines
1.4 KiB
Plaintext
66 lines
1.4 KiB
Plaintext
#!nsh
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#
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# @name Spedix S250AQ
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# @url https://docs.px4.io/en/framebuild_multicopter/spedix_s250_pixracer.html
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#
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# @board px4fmu-v2 exclude
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#
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# @type Quadrotor asymmetric
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# @class Copter
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#
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# @output MAIN1 motor1 (front right: CCW)
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# @output MAIN2 motor2 (back left: CCW)
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# @output MAIN3 motor3 (front left: CW)
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# @output MAIN4 motor4 (back right: CW)
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#
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# @output MAIN5 feed-through of RC AUX1 channel
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# @output MAIN6 feed-through of RC AUX2 channel
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#
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# @maintainer Lorenz Meier <lorenz@px4.io>
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#
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sh /etc/init.d/rc.mc_defaults
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set MIXER quad_s250aq
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set MAV_TYPE 2
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set PWM_OUT 1234
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if [ $AUTOCNF == yes ]
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then
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param set MC_ROLL_P 8.0
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param set MC_ROLLRATE_P 0.19
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param set MC_ROLLRATE_I 0.1
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param set MC_ROLLRATE_D 0.0055
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param set MC_PITCH_P 8.0
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param set MC_PITCHRATE_P 0.19
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param set MC_PITCHRATE_I 0.1
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param set MC_PITCHRATE_D 0.0055
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param set MC_YAW_P 4.0
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param set MC_YAWRATE_P 0.2
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param set MC_YAWRATE_I 0.1
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param set MC_YAWRATE_D 0.0
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param set MC_YAW_FF 0.5
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param set MC_ROLLRATE_MAX 720.0
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param set MC_PITCHRATE_MAX 720.0
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param set MC_YAWRATE_MAX 400.0
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param set MC_ACRO_R_MAX 360.0
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param set MC_ACRO_P_MAX 360.0
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param set MC_TPA_BREAK_D 0.3
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param set MC_TPA_BREAK_I 1.0
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param set MC_TPA_BREAK_P 0.3
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param set MC_TPA_RATE_D 1.0
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param set MC_TPA_RATE_I 0.0
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param set MC_TPA_RATE_P 1.0
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param set PWM_MIN 1075
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param set MPC_THR_MIN 0.06
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param set MPC_MANTHR_MIN 0.06
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param set ATT_BIAS_MAX 0.0
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param set CBRK_IO_SAFETY 22027
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fi
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