fly316/PX4-Autopilot
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Backported VTOL to beta branch.

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This commit is contained in:
Simon Wilks
2015-08-09 11:36:38 +02:00
parent e07e4743c5
commit 4c79f8d4a2
12 changed files with 109 additions and 88 deletions
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ROMFS/px4fmu_common/init.d/13002_firefly6
+9 -5
View File
@@ -12,21 +12,25 @@ sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF == yes ]
then
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.15
param set MC_ROLLRATE_P 0.17
param set MC_ROLLRATE_I 0.002
param set MC_ROLLRATE_D 0.003
param set MC_ROLLRATE_D 0.004
param set MC_ROLLRATE_FF 0.0
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.12
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 2.8
param set MC_YAW_P 3.8
param set MC_YAW_FF 0.5
param set MC_YAWRATE_P 0.22
param set MC_YAWRATE_I 0.02
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_FF 0.0
param set VT_TILT_MC 0.08
param set VT_TILT_TRANS 0.5
param set VT_TILT_FW 0.9
fi
set MIXER firefly6
ROMFS/px4fmu_common/init.d/rcS
+4
View File
@@ -626,6 +626,10 @@ then
then
set MAV_TYPE 21
fi
if [ $MIXER == quad_x_pusher_vtol ]
then
set MAV_TYPE 22
fi
fi
# Still no MAV_TYPE found
ROMFS/px4fmu_common/mixers/firefly6.aux.mix
+3 -3
View File
@@ -5,18 +5,18 @@ Tilt mechanism servo mixer
---------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 1 4 10000 10000 0 -10000 10000
S: 1 4 0 20000 -10000 -10000 10000
Elevon mixers
-------------
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 -7500 -7500 0 -10000 10000
S: 1 0 -7500 -7500 0 -10000 10000
S: 1 1 8000 8000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 -7500 -7500 0 -10000 10000
S: 1 0 -7500 -7500 0 -10000 10000
S: 1 1 -8000 -8000 0 -10000 10000
Landing gear mixer