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ROMFS: updated deltaquad autoconfig params

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-07-03 08:53:30 +02:00
committed by Roman Bapst
parent 4a45d79f52
commit e1117d175b
1 changed files with 40 additions and 8 deletions
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ROMFS/px4fmu_common/init.d/13013_deltaquad
+40 -8
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@@ -1,6 +1,6 @@
#!nsh
#
# @name DeltaQuad
# @name Vertical Technologies DeltaQuad
#
# @type Standard VTOL
# @class VTOL
@@ -21,19 +21,30 @@ sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF == yes ]
then
param set BAT_CAPACITY 23000
param set BAT_N_CELLS 4
param set BAT_R_INTERNAL 0.0025
param set COM_DISARM_LAND 5
param set VT_TYPE 2
param set VT_MOT_COUNT 4
param set VT_F_TRANS_THR 1
param set VT_DWN_PITCH_MAX 8
param set VT_FW_QC_P 55
param set VT_FW_QC_R 55
param set VT_TRANS_MIN_TM 8
param set VT_B_TRANS_DUR 5
param set VT_TRANS_MIN_TM 15
param set VT_B_TRANS_DUR 8
param set VT_WV_LND_EN 1
param set VT_WV_LTR_EN 1
param set VT_FWD_THRUST_SC 2
param set VT_FWD_THRUST_SC 4
param set VT_F_TRANS_DUR 1
param set VT_IDLE_PWM_MC 1025
param set VT_B_REV_OUT 0.5
param set VT_B_TRANS_THR 0.7
param set VT_FW_PERM_STAB 1
param set VT_TRANS_TIMEOUT 22
param set VT_F_TRANS_RAMP 4
param set FW_ARSP_MODE 2
param set FW_L1_PERIOD 25
@@ -51,14 +62,19 @@ then
param set FW_T_SINK_MAX 3
param set FW_T_SINK_MIN 1
param set FW_T_VERT_ACC 6
param set FW_THR_CRUISE 0.68
param set FW_T_HRATE_P 0.1
param set FW_THR_CRUISE 0.70
param set FW_THR_SLEW_MAX 1
param set FW_MAN_P_MAX 30
param set FW_P_LIM_MAX 20
param set FW_P_LIM_MAX 15
param set FW_P_LIM_MIN -25
param set FW_P_RMAX_NEG 45
param set FW_P_RMAX_POS 45
param set FW_R_RMAX 50
param set FW_THR_MIN 0.55
param set FW_BAT_SCALE_EN 1
param set FW_THR_ALT_SCL 2.7
param set FW_T_RLL2THR 20
param set LNDMC_ALT_MAX 9999
param set LNDMC_XY_VEL_MAX 1
@@ -84,12 +100,13 @@ then
param set MC_YAWRATE_FF 0.0
param set MC_YAWRATE_MAX 20
param set MC_YAWRAUTO_MAX 20
param set MC_AIRMODE 1
param set MPC_XY_P 0.8
param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_MAX 4
param set MPC_XY_VEL_MAX 5
param set MPC_ACC_HOR_MAX 2.0
param set MPC_LAND_SPEED 1.5
param set MPC_LAND_SPEED 1.2
param set MPC_MAN_R_MAX 30
param set MPC_TILTMAX_LND 35
param set MPC_Z_VEL_MAX 1.5
@@ -97,6 +114,10 @@ then
param set MPC_Z_VEL_MAX_DN 1.5
param set MPC_HOLD_MAX_XY 0.5
param set MPC_HOLD_MAX_Z 0.5
param set MPC_TKO_RAMP_T 0.8
param set MPC_XY_CRUISE 5
param set MPC_TILTMAX_AIR 25
param set MPC_TILTMAX_LND 25
param set CBRK_AIRSPD_CHK 162128
param set CBRK_IO_SAFETY 22027
@@ -104,8 +125,19 @@ then
param set EKF2_GPS_POS_X -0.12
param set EKF2_IMU_POS_X -0.12
param set EKF2_TAU_VEL 0.5
param set EKF2_GPS_P_GATE 10
param set EKF2_GPS_V_GATE 10
param set MIS_DIST_1WP 100
param set MIS_DIST_WPS 100000
param set MIS_TAKEOFF_ALT 15
param set NAV_DLL_ACT 0
param set NAV_LOITER_RAD 100
param set SYS_COMPANION 57600
param set SENS_BOARD_ROT 18
fi
set MIXER deltaquad