forked from Archive/PX4-Autopilot
89 lines
2.4 KiB
Plaintext
89 lines
2.4 KiB
Plaintext
#!nsh
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#
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# @name 3DR Solo
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#
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# @type Quadrotor x
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#
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# @maintainer Andreas Antener <andreas@uaventure.com>
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#
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sh /etc/init.d/rc.mc_defaults
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if [ $AUTOCNF == yes ]
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then
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# tuning
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param set MC_PITCHRATE_P 0.11
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param set MC_ROLLRATE_P 0.11
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param set MPC_MANTHR_MIN 0.08
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param set MPC_XY_VEL_MAX 3.0
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param set MPC_Z_VEL_MAX 2.0
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# INAV: higher GPS weights for better altitude control
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param set INAV_W_Z_BARO 0.3
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param set INAV_W_Z_GPS_P 0.8
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param set INAV_W_Z_GPS_V 0.8
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# takeoff, land and RTL settings
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param set MIS_TAKEOFF_ALT 4.0
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param set COM_DISARM_LAND 1
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param set RTL_LAND_DELAY 1
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param set RTL_DESCEND_ALT 5.0
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param set RTL_RETURN_ALT 15.0
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param set MPC_TILTMAX_LND 8.0
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param set MPC_LAND_SPEED 0.4
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param set MPC_HOLD_MAX_Z 1.5
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param set MPC_TKO_JMPSPD 2.0
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param set MPC_TKO_SPEED 1.5
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# setup
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# main board rotation: pitch 180
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param set SENS_BOARD_ROT 12
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# solo external mag rotation
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param set CAL_MAG0_ROT 30
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# no safety switch
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param set CBRK_IO_SAFETY 22027
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# battery voltage not available yet
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param set CBRK_SUPPLY_CHK 894281
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# RC configuration
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param set RC_MAP_MODE_SW 5
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param set RC_MAP_PITCH 2
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param set RC_MAP_ROLL 1
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param set RC_MAP_THROTTLE 3
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param set RC_MAP_YAW 4
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param set RC1_DZ 10
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param set RC1_MAX 1988
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param set RC1_MIN 1003
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param set RC1_REV 1
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param set RC1_TRIM 1499
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param set RC2_DZ 10
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param set RC2_MAX 1987
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param set RC2_MIN 1023
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param set RC2_REV -1
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param set RC2_TRIM 1499
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param set RC3_DZ 10
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param set RC3_MAX 1877
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param set RC3_MIN 1023
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param set RC3_REV 1
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param set RC3_TRIM 1023
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param set RC4_DZ 10
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param set RC4_MAX 1998
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param set RC4_MIN 1012
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param set RC4_REV 1
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param set RC4_TRIM 1500
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param set RC5_DZ 10
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param set RC5_MAX 2000
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param set RC5_MIN 1000
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param set RC5_REV 1
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param set RC5_TRIM 1500
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fi
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set MIXER quad_x
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set PWM_OUT 1234
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set MIXER_AUX none
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# enable high-speed link on telem 1
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set MAVLINK_F "-d /dev/ttyS1 -b 921600 -r 80000 -m onboard -x"
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