From 1d8894c930b4f41062761bfab43cc07da5dd5181 Mon Sep 17 00:00:00 2001 From: Azarakhsh Keipour Date: Sat, 28 Dec 2019 14:45:49 -0500 Subject: [PATCH] Tilted-Hex: Added the default values for the MC_OMNI_MODE parameter to multirotor airframes --- ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt | 2 ++ ROMFS/px4fmu_common/init.d/airframes/6100_hexa_tilt_x | 2 ++ ROMFS/px4fmu_common/init.d/rc.mc_defaults | 2 ++ 3 files changed, 6 insertions(+) diff --git a/ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt b/ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt index dcaf8ca5d5..ccf9bbad8c 100644 --- a/ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt +++ b/ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt @@ -37,6 +37,8 @@ then param set RTL_LAND_DELAY 5 param set SDLOG_PROFILE 179 + + param set MC_OMNI_MODE 2 fi set MAV_TYPE 13 diff --git a/ROMFS/px4fmu_common/init.d/airframes/6100_hexa_tilt_x b/ROMFS/px4fmu_common/init.d/airframes/6100_hexa_tilt_x index 2157fc5a8b..2248abeeb9 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/6100_hexa_tilt_x +++ b/ROMFS/px4fmu_common/init.d/airframes/6100_hexa_tilt_x @@ -45,6 +45,8 @@ then param set MPC_Z_VEL_MAX_DN 2.0 param set BAT_N_CELLS 4 + + param set MC_OMNI_MODE 2 fi # Set mixer diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults index e53c40541f..b311f07749 100644 --- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults @@ -18,6 +18,8 @@ then param set PWM_MAX 1950 param set PWM_MIN 1075 param set PWM_RATE 400 + + param set MC_OMNI_MODE 0 fi #