diff --git a/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger b/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger new file mode 100644 index 0000000000..58b2cdd3c2 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger @@ -0,0 +1,88 @@ +#!nsh +# +# @name Sparkle Tech Ranger VTOL +# +# @type Standard VTOL +# +# @maintainer Andreas Antener +# + +sh /etc/init.d/rc.vtol_defaults + +if [ $AUTOCNF == yes ] +then + param set VT_TYPE 2 + param set VT_MOT_COUNT 4 + param set VT_IDLE_PWM_MC 1180 + param set MAV_TYPE 22 + param set VT_ARSP_TRANS 15.0 + param set VT_B_TRANS_DUR 4.0 + param set VT_TRANS_MIN_TM 5.0 + param set VT_TRANS_THR 0.6 + param set VT_TRANS_TIMEOUT 30.0 + + param set FW_AIRSPD_MAX 22.0 + param set FW_AIRSPD_MIN 14.0 + param set FW_AIRSPD_TRIM 16.0 + param set FW_L1_PERIOD 25.0 + param set FW_PR_P 0.060 + param set FW_P_RMAX_NEG 40.0 + param set FW_P_RMAX_POS 40.0 + param set FW_RR_FF 0.4 + param set FW_RR_P 0.04 + param set FW_R_RMAX 40.0 + + param set MC_PITCHRATE_D 0.004 + param set MC_PITCHRATE_I 0.0 + param set MC_PITCHRATE_MAX 60.0 + param set MC_PITCHRATE_P 0.21 + param set MC_PITCH_P 4.0 + param set MC_ROLLRATE_D 0.004 + param set MC_ROLLRATE_I 0.002 + param set MC_ROLLRATE_MAX 60.0 + param set MC_ROLLRATE_P 0.24 + param set MC_ROLL_P 4.0 + param set MC_YAWRATE_I 0.02 + param set MC_YAWRATE_MAX 40.0 + param set MC_YAWRATE_P 0.18 + param set MC_YAWRAUTO_MAX 40.0 + + param set MIS_TAKEOFF_ALT 2.5 + param set MIS_YAW_TMT 20.0 + + param set MPC_ACC_HOR_MAX 1.0 + param set MPC_HOLD_MAX_XY 0.5 + param set MPC_HOLD_MAX_Z 0.5 + param set MPC_LAND_SPEED 1.0 + param set MPC_MANTHR_MIN 0.05 + param set MPC_MAN_Y_MAX 120.0 + param set MPC_THR_MIN 0.07 + param set MPC_TILTMAX_AIR 35.0 + param set MPC_TILTMAX_LND 20.0 + param set MPC_TKO_SPEED 1.0 + param set MPC_XY_FF 0.1 + param set MPC_XY_P 0.3 + param set MPC_XY_VEL_MAX 3.0 + param set MPC_XY_VEL_P 0.05 + param set MPC_Z_FF 0.3 + param set MPC_Z_P 0.5 + param set MPC_Z_VEL_MAX 1.0 + param set MPC_Z_VEL_P 0.1 + + param set NAV_ACC_RAD 3.0 + + param set PWM_AUX_REV1 1 + param set PWM_AUX_REV2 1 + param set PWM_AUX_REV3 1 + param set PWM_AUX_REV4 1 +fi + +set MIXER vtol_quad_x +set PWM_OUT 1234 +set PWM_RATE 400 + +set MIXER_AUX vtol_AAERT +set PWM_ACHDIS 5 +set PWM_AUX_DISARMED 950 + +set MAV_TYPE 22