From 272f1dd4b9835850e5900170369f6aa35a4f1d06 Mon Sep 17 00:00:00 2001 From: Andreas Antener Date: Wed, 4 Jan 2017 22:17:13 +0100 Subject: [PATCH] Firefly6: config meta data update and some small param changes --- ROMFS/px4fmu_common/init.d/13002_firefly6 | 22 +++++++++++++++------- 1 file changed, 15 insertions(+), 7 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/13002_firefly6 b/ROMFS/px4fmu_common/init.d/13002_firefly6 index 4ef9cadcf5..cabe3db1f2 100644 --- a/ROMFS/px4fmu_common/init.d/13002_firefly6 +++ b/ROMFS/px4fmu_common/init.d/13002_firefly6 @@ -1,10 +1,18 @@ #!nsh # # @name BirdsEyeView Aerobotics FireFly6 -# # @type VTOL Tiltrotor -# -# @maintainer Roman Bapst +# @maintainer Roman Bapst +# @output MAIN1 Front right motor bottom +# @output MAIN2 Front right motor top +# @output MAIN3 Back motor bottom +# @output MAIN4 Back motor top +# @output MAIN5 Front left motor bottom +# @output MAIN6 Front left motor top +# @output AUX1 Tilt servo +# @output AUX2 Elevon 1 +# @output AUX3 Elevon 2 +# @output AUX4 Gear # sh /etc/init.d/rc.vtol_defaults @@ -12,16 +20,16 @@ sh /etc/init.d/rc.vtol_defaults if [ $AUTOCNF == yes ] then param set MC_ROLL_P 7.0 - param set MC_ROLLRATE_P 0.17 + param set MC_ROLLRATE_P 0.19 param set MC_ROLLRATE_I 0.002 - param set MC_ROLLRATE_D 0.003 + param set MC_ROLLRATE_D 0.005 param set MC_ROLLRATE_FF 0.0 param set MC_PITCH_P 7.0 param set MC_PITCHRATE_P 0.14 param set MC_PITCHRATE_I 0.002 - param set MC_PITCHRATE_D 0.003 + param set MC_PITCHRATE_D 0.004 param set MC_PITCHRATE_FF 0.0 - param set MC_YAW_P 3.8 + param set MC_YAW_P 4.0 param set MC_YAW_FF 0.5 param set MC_YAWRATE_P 0.22 param set MC_YAWRATE_I 0.02