diff --git a/ROMFS/px4fmu_common/init.d/4050_generic_250 b/ROMFS/px4fmu_common/init.d/4050_generic_250 new file mode 100644 index 0000000000..3aa1388e1d --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/4050_generic_250 @@ -0,0 +1,39 @@ +#!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 +# + +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