DeltaQuad params (#6894)

DeltaQuad params
2026-05-16 12:57:35 +08:00 · 2017-03-25 02:06:19 +01:00
parent 9618b9417b
commit fc71ef98bb
1 changed files with 105 additions and 0 deletions
@@ -0,0 +1,105 @@
+#!nsh
+#
+# @name DeltaQuad
+# @type Standard VTOL
+# @maintainer Sander Smeets <sander@droneslab.com>
+# @output MAIN1 Front right motor: CCW
+# @output MAIN2 Back left motor: CCW
+# @output MAIN3 Front left motor: CW
+# @output MAIN4 Back right motor: CW
+# @output AUX1 Right elevon
+# @output AUX2 Left elevon
+# @output AUX3 Motor
+#
+
+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 1
+	param set VT_IDLE_PWM_MC 1080
+	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_WV_LND_EN 1
+	param set VT_WV_LTR_EN 1
+	param set VT_FWD_THRUST_SC 2
+	param set VT_F_TRANS_DUR 1
+	param set VT_IDLE_PWM_MC 1025
+
+	param set FW_ARSP_MODE 2
+	param set FW_L1_PERIOD 25
+	param set FW_PR_FF 0.7
+	param set FW_PR_I 0.18
+	param set FW_PR_P 0.15
+	param set FW_P_TC 0.5
+	param set FW_PSP_OFF 5
+	param set FW_R_LIM 35
+	param set FW_RR_FF 0.9
+	param set FW_RR_I 0.08
+	param set FW_RR_P 0.18
+	param set FW_T_HRATE_FF 0.5
+	param set FW_THR_CRUISE 0.68
+	param set FW_THR_SLEW_MAX 1
+
+	param set LNDMC_ALT_MAX 9999
+	param set LNDMC_XY_VEL_MAX 1
+	param set LNDMC_Z_VEL_MAX 0.7
+
+	param set MC_ROLL_P 6.5
+	param set MC_ROLLRATE_P 0.16
+	param set MC_ROLLRATE_I 0.01
+	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_FF 0.0
+	param set MC_ROLLRATE_MAX 80
+	param set MC_PITCH_P 6.5
+	param set MC_PITCHRATE_P 0.15
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_FF 0.0
+	param set MC_PITCHRATE_MAX 80
+	param set MC_YAW_P 3.5
+	param set MC_YAW_FF 0.5
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_FF 0.0
+	param set MC_YAWRATE_MAX 20
+	param set MC_YAWRAUTO_MAX 20
+
+	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_ACC_HOR_MAX 2.0
+	param set MPC_LAND_SPEED 1.5
+	param set MPC_MAN_R_MAX 30
+	param set MPC_TILTMAX_LND 35
+	param set MPC_Z_VEL_MAX 1.5
+	param set MPC_Z_VEL_MAX_UP 1.5
+	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 CBRK_AIRSPD_CHK 162128
+	param set CBRK_IO_SAFETY 22027
+
+	param set EKF2_GPS_POS_X -0.12
+	param set EKF2_IMU_POS_X 0.1
+	param set EKF2_TAU_VEL 0.5
+
+	param set SYS_COMPANION 57600
+fi
+
+set MIXER vtol_quad_x
+set PWM_OUT 1234
+set PWM_RATE 400
+
+set MIXER_AUX vtol_delta
+set PWM_ACHDIS 3
+set PWM_AUX_DISARMED 950
+
+set MAV_TYPE 22