#!nsh # # @name Teal One # # @type Quadrotor x # @class Copter # # @board px4fmu-v2 exclude # @board px4fmu-v3 exclude # @board px4fmu-v4pro exclude # @board px4fmu-v5 exclude # # @output MAIN1 motor 1 # @output MAIN2 motor 2 # @output MAIN3 motor 3 # @output MAIN4 motor 4 # # @maintainer Jacob Dahl # @maintainer Alex Klimaj # echo "Executing 4250_teal script." sh /etc/init.d/4001_quad_x set MIXER_AUX none if [ $AUTOCNF = yes ] then # battery param set BAT_CAPACITY 2750 param set BAT_CRIT_THR 0.15 param set BAT_EMERGEN_THR 0.075 param set BAT_LOW_THR 0.20 param set BAT_N_CELLS 4 param set BAT_R_INTERNAL 0.06 param set BAT_SOURCE 1 param set BAT_V_CHARGED 4.15 param set BAT_V_DIV 11.1625 param set BAT_V_EMPTY 3.65 param set BAT_V_OFFS_CURR -0.0045 # primary accel param set CAL_ACC_PRIME 1442826 #mpu6500 #param set CAL_ACC_PRIME 1445386 #mpu9250 # primary gyro param set CAL_GYRO_PRIME 2360330 #mpu6500 #param set CAL_GYRO_PRIME 2362890 #mpu9250 #primary Mag #param set CAL_MAG_PRIME 265738 #mpu9250 # sensor calibration param set CAL_MAG0_ROT 0 param set CAL_MAG_SIDES 63 param set SENS_BOARD_ROT 0 param set COM_ARM_MAG 1.5 param set COM_ARM_EKF_AB 0.0032 # circuit breakers param set CBRK_IO_SAFETY 22027 param set CBRK_USB_CHK 197848 # commander param set COM_DISARM_LAND 1 param set COM_LOW_BAT_ACT 3 param set COM_LOSS_LTR_T 20 # ekf2 param set EKF2_AID_MASK 1 param set EKF2_GPS_CHECK 511 param set EKF2_GPS_POS_X -0.04 param set EKF2_IMU_POS_X -0.06 param set EKF2_MIN_RNG 0.07 param set EKF2_PCOEF_XN 0.1 param set EKF2_PCOEF_XP -0.5 param set EKF2_RNG_AID 1 param set EKF2_RNG_A_VMAX 20.0 param set EKF2_RNG_NOISE 0.2 # gps param set GPS_UBX_DYNMODEL 7 # geofence param set GF_ACTION 1 # land detector param set LNDMC_THR_RANGE 0.50 param set LNDMC_XY_VEL_MAX 1.0 param set LNDMC_ROT_MAX 50.0 # mavlink stream configuration param set MAV_1_CONFIG 102 param set MAV_1_RATE 20000 # mc_att_control param set MC_ACRO_P_MAX 360.0 param set MC_ACRO_R_MAX 360.0 param set MC_ACRO_Y_MAX 360.0 param set MC_ROLL_P 6.0 param set MC_ROLLRATE_P 0.055 param set MC_ROLLRATE_I 0.2 param set MC_ROLLRATE_D 0.0012 param set MC_ROLLRATE_MAX 180.0 param set MC_PITCHRATE_P 0.06 param set MC_PITCHRATE_I 0.2 param set MC_PITCHRATE_D 0.0012 param set MC_PITCHRATE_MAX 180.0 param set MC_YAW_P 1.0 param set MC_YAWRATE_P 0.08 param set MC_YAWRATE_I 0.08 param set MC_YAWRATE_D 0.0 param set MC_YAWRATE_MAX 180.0 param set MOT_SLEW_MAX 0.15 # mc_pos_control param set MPC_ACC_DOWN_MAX 10.0 param set MPC_ACC_HOR 10.0 param set MPC_ACC_HOR_MAX 15.0 param set MPC_ACC_UP_MAX 10.0 param set MPC_JERK_MAX 5.0 param set MPC_LAND_ALT1 8.0 param set MPC_LAND_ALT2 5.0 param set MPC_MANTHR_MAX 0.85 param set MPC_MANTHR_MIN 0.15 param set MPC_MAN_TILT_MAX 45.0 param set MPC_MAN_Y_MAX 200.0 param set MPC_THR_MAX 0.85 param set MPC_THR_MIN 0.15 param set MPC_TILTMAX_AIR 45.0 param set MPC_TKO_RAMP_T 0.75 param set MPC_TKO_SPEED 0.75 param set MPC_VEL_MANUAL 26.5 param set MPC_XY_CRUISE 15.0 param set MPC_XY_P 1.15 param set MPC_XY_VEL_P 0.14 param set MPC_XY_VEL_I 0.014 param set MPC_XY_VEL_D 0.014 param set MPC_XY_VEL_MAX 26.5 param set MPC_Z_P 0.8 param set MPC_TILTMAX_LND 18.0 param set MPC_Z_VEL_D 0.02 param set MPC_Z_VEL_MAX_DN 2.5 param set MPC_Z_VEL_MAX_UP 6.0 # navigator param set NAV_ACC_RAD 2.5 param set NAV_RCL_ACT 1 # pwm control param set PWM_DISARMED 900 param set PWM_MAX 1850 param set PWM_MIN 1075 param set PWM_RATE 400 # rtl param set RTL_DESCEND_ALT 5 param set RTL_LAND_DELAY 5 param set RTL_MIN_DIST 7.5 param set RTL_RETURN_ALT 25 # sensors param set SENS_EN_PGA460 1 param set SENS_EN_THERMAL 1 # serial comms param set SER_TEL2_BAUD 921600 fi