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Added V-Tail VTOL config and mixer

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sanderux
2015-11-19 04:56:33 +01:00
parent b156519468
commit f10bce2a63
2 changed files with 110 additions and 0 deletions
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ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad
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#!nsh
#
# @name Generic AAVVT v-tail plane airframe with Quad VTOL.
#
# @type Standard VTOL
#
# @maintainer Sander Smeets <sander@droneslab.com>
#
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_TRANS_THR 0.75
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.15
param set MC_ROLLRATE_I 0.002
param set MC_ROLLRATE_D 0.003
param set MC_ROLLRATE_FF 0.0
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.12
param set MC_PITCHRATE_I 0.002
param set MC_PITCHRATE_D 0.003
param set MC_PITCHRATE_FF 0.0
param set MC_YAW_P 2.8
param set MC_YAW_FF 0.5
param set MC_YAWRATE_P 0.22
param set MC_YAWRATE_I 0.02
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_FF 0.0
fi
set MIXER vtol_quad_x
set PWM_OUT 12345678
set MIXER_AUX vtol_AAVVT
set PWM_AUX_RATE 50
set PWM_AUX_OUT 1234
set PWM_AUX_DISARMED 1000
set PWM_AUX_MIN 1000
set PWM_AUX_MAX 2000
set MAV_TYPE 22
param set VT_MOT_COUNT 4
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 2