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add generic 250 quad_x config tuned for acro mode

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Mark Whitehorn 2016-02-18 17:30:25 -07:00 committed by Lorenz Meier
parent 7fbd4a0b5b
commit 7c91aaee64
1 changed files with 39 additions and 0 deletions
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39
ROMFS/px4fmu_common/init.d/4050_generic_250 Normal file
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#!nsh
#
# @name generic_250
# tuned for acro mode on Spedix S250AQ (3S, stock ESCs and 2300KV motors, 5x4.5 bullnose props)
#
# @type Quadrotor x
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Mark Whitehorn <kd0aij@gmail.com>
#
sh /etc/init.d/4001_quad_x
if [ $AUTOCNF == yes ]
then
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.1
param set MC_ROLLRATE_I 0.1
param set MC_ROLLRATE_D 0.005
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.2
param set MC_PITCHRATE_D 0.005
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
param set PWM_MIN 980
param set MPC_THR_MIN 0.06
param set MPC_MANTHR_MIN 0.06
param set MC_ROLLRATE_MAX 360.0
param set MC_PITCHRATE_MAX 360.0
param set MC_YAWRATE_MAX 200.0
# att_estimator_q gyro bias estimates cause problems with acro mode
param set ATT_BIAS_MAX 0.0
fi