#!/bin/sh # # @name Vertical Technologies DeltaQuad # # @type Standard VTOL # @class VTOL # # @maintainer Sander Smeets # # @output Motor1 motor 1 # @output Motor2 motor 2 # @output Motor3 motor 3 # @output Motor4 motor 4 # @output Servo1 Right elevon # @output Servo2 Left elevon # @output Servo3 Pusher motor # @output Servo4 Pusher reverse channel # # @board px4_fmu-v2 exclude # @board bitcraze_crazyflie exclude # . ${R}etc/init.d/rc.vtol_defaults param set-default MAV_TYPE 22 param set-default BAT1_CAPACITY 23000 param set-default BAT1_N_CELLS 4 param set-default BAT1_R_INTERNAL 0.0025 param set-default CBRK_AIRSPD_CHK 162128 param set-default CBRK_IO_SAFETY 22027 param set-default EKF2_GPS_POS_X -0.12 param set-default EKF2_IMU_POS_X -0.12 param set-default EKF2_TAU_VEL 0.5 param set-default EKF2_GPS_P_GATE 10 param set-default EKF2_GPS_V_GATE 10 param set-default FW_ARSP_MODE 1 param set-default FW_L1_PERIOD 25 param set-default FW_PR_FF 0.7 param set-default FW_PR_I 0.18 param set-default FW_PR_P 0.15 param set-default FW_P_TC 0.5 param set-default FW_PSP_OFF 5 param set-default FW_R_LIM 35 param set-default FW_RR_FF 0.9 param set-default FW_RR_I 0.08 param set-default FW_RR_P 0.18 param set-default FW_T_HRATE_FF 0.5 param set-default FW_T_CLMB_MAX 3 param set-default FW_T_SINK_MAX 3 param set-default FW_T_SINK_MIN 1 param set-default FW_T_VERT_ACC 6 param set-default FW_THR_TRIM 0.70 param set-default FW_THR_SLEW_MAX 1 param set-default FW_P_LIM_MAX 15 param set-default FW_P_LIM_MIN -25 param set-default FW_P_RMAX_NEG 45 param set-default FW_P_RMAX_POS 45 param set-default FW_R_RMAX 50 param set-default FW_THR_MIN 0.55 param set-default FW_BAT_SCALE_EN 1 param set-default FW_THR_ALT_SCL 2.7 param set-default FW_T_RLL2THR 20 param set-default LNDMC_XY_VEL_MAX 1 param set-default LNDMC_Z_VEL_MAX 0.7 param set-default MC_ROLLRATE_P 0.16 param set-default MC_ROLLRATE_I 0.01 param set-default MC_ROLLRATE_MAX 80 param set-default MC_PITCHRATE_I 0.05 param set-default MC_PITCHRATE_MAX 80 param set-default MC_YAW_P 3.5 param set-default MC_YAWRATE_MAX 20 param set-default MC_AIRMODE 1 param set-default MIS_DIST_1WP 100 param set-default MIS_DIST_WPS 100000 param set-default MIS_TAKEOFF_ALT 15 param set-default MPC_XY_P 0.8 param set-default MPC_XY_VEL_P_ACC 2 param set-default MPC_XY_VEL_MAX 5 param set-default MPC_ACC_HOR_MAX 2 param set-default MPC_LAND_SPEED 1.2 param set-default MPC_TILTMAX_LND 35 param set-default MPC_Z_VEL_MAX_UP 1.5 param set-default MPC_HOLD_MAX_XY 0.5 param set-default MPC_HOLD_MAX_Z 0.5 param set-default MPC_TKO_RAMP_T 0.8 param set-default MPC_XY_CRUISE 5 param set-default MPC_TILTMAX_AIR 25 param set-default MPC_TILTMAX_LND 25 param set-default MPC_YAWRAUTO_MAX 20 param set-default NAV_LOITER_RAD 100 param set-default PWM_MAIN_DIS5 1500 param set-default PWM_MAIN_DIS6 1500 param set-default PWM_MAIN_DIS7 900 param set-default PWM_MAIN_DIS8 900 param set-default SENS_BOARD_ROT 18 # TELEM2 config param set-default MAV_1_CONFIG 102 param set-default MAV_1_RATE 5000 param set-default MAV_1_FORWARD 1 param set-default SER_TEL2_BAUD 57600 param set-default VT_TYPE 2 param set-default VT_F_TRANS_THR 1 param set-default VT_PITCH_MIN 8 param set-default VT_FW_QC_P 55 param set-default VT_FW_QC_R 55 param set-default VT_TRANS_MIN_TM 15 param set-default VT_B_TRANS_DUR 8 param set-default VT_FWD_THRUST_SC 4 param set-default VT_F_TRANS_DUR 1 param set-default VT_B_REV_OUT 0.5 param set-default VT_B_TRANS_THR 0.7 param set-default VT_TRANS_TIMEOUT 22 param set-default VT_F_TRANS_RAMP 4 param set-default COM_RC_OVERRIDE 0 param set-default CA_AIRFRAME 2 param set-default CA_ROTOR_COUNT 5 param set-default CA_ROTOR0_PX 0.1515 param set-default CA_ROTOR0_PY 0.245 param set-default CA_ROTOR0_KM 0.05 param set-default CA_ROTOR1_PX -0.1515 param set-default CA_ROTOR1_PY -0.1875 param set-default CA_ROTOR1_KM 0.05 param set-default CA_ROTOR2_PX 0.1515 param set-default CA_ROTOR2_PY -0.245 param set-default CA_ROTOR2_KM -0.05 param set-default CA_ROTOR3_PX -0.1515 param set-default CA_ROTOR3_PY 0.1875 param set-default CA_ROTOR3_KM -0.05 param set-default CA_ROTOR4_AX 1.0 param set-default CA_ROTOR4_AZ 0.0 param set-default CA_ROTOR4_PX 0.2 param set-default CA_SV_CS_COUNT 3 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS1_TYPE 2 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS2_TYPE 3 param set-default CA_SV_CS2_TRQ_P 1.0