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Fix PWM OUT command and update fligth tested params.

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This commit is contained in:
Simon Wilks
2015-01-09 12:44:31 +01:00
parent d351772a46
commit 8ed6612c1a
1 changed files with 14 additions and 8 deletions
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ROMFS/px4fmu_common/init.d/10018_tbs_endurance
+14 -8
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@@ -2,7 +2,7 @@
#
# Team Blacksheep Discovery Long Range Quadcopter
#
# Setup: 15 x 6.5" Props, 6S 4000mAh TBS LiPo, TBS 30A ESCs, TBS 400kV Motors
# Setup: 15 x 5" Props, 6S 4000mAh TBS LiPo, TBS 30A ESCs, TBS 400kV Motors
#
# Simon Wilks <simon@px4.io>
#
@@ -11,21 +11,27 @@ sh /etc/init.d/rc.mc_defaults
if [ $AUTOCNF == yes ]
then
param set BAT_N_CELLS 6
param set BAT_V_EMPTY 3.5
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.07
param set MC_ROLLRATE_P 0.08
param set MC_ROLLRATE_I 0.02
param set MC_ROLLRATE_D 0.003
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.003
param set MC_PITCHRATE_P 0.13
param set MC_PITCHRATE_I 0.02
param set MC_PITCHRATE_D 0.005
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.4
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
param set MPC_XY_FF 0.2
param set MPC_XY_VEL_MAX 2
fi
set MIXER quad_w
set PWM_OUTPUTS 1234
set PWM_MIN 1200
set PWM_OUT 1234
set PWM_MIN 1080