mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-23 15:07:34 +08:00
Beat Küng
91 lines
2.6 KiB
Bash
91 lines
2.6 KiB
Bash
#!/bin/sh
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#
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# @name 3DR Solo
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#
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# @type Quadrotor x
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# @class Copter
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#
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# @maintainer Andreas Antener <andreas@uaventure.com>
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#
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# @board px4_fmu-v2 exclude
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# @board px4_fmu-v3 exclude
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# @board px4_fmu-v4 exclude
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# @board px4_fmu-v4pro exclude
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# @board px4_fmu-v5 exclude
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# @board px4_fmu-v5x exclude
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# @board bitcraze_crazyflie exclude
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#
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. ${R}etc/init.d/rc.mc_defaults
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# tuning
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param set-default MC_PITCHRATE_P 0.11
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param set-default MC_ROLLRATE_P 0.11
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param set-default MPC_MANTHR_MIN 0.08
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param set-default MPC_XY_VEL_MAX 3
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param set-default MPC_Z_VEL_MAX_DN 2
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# takeoff, land and RTL settings
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param set-default MIS_TAKEOFF_ALT 4
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param set-default RTL_LAND_DELAY 1
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param set-default RTL_DESCEND_ALT 5
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param set-default RTL_RETURN_ALT 15
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param set-default MPC_TILTMAX_LND 8
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param set-default MPC_LAND_SPEED 0.4
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param set-default MPC_HOLD_MAX_Z 1.5
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param set-default MPC_TKO_JMPSPD 2
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param set-default MPC_TKO_SPEED 1.5
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# setup
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# main board rotation: pitch 180
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param set-default SENS_BOARD_ROT 12
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# solo external mag rotation
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param set-default CAL_MAG0_ROT 38
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# no safety switch
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param set-default CBRK_IO_SAFETY 22027
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# battery voltage not available yet
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param set-default CBRK_SUPPLY_CHK 894281
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# RC configuration
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param set-default RC_MAP_MODE_SW 5
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param set-default RC_MAP_PITCH 2
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param set-default RC_MAP_ROLL 1
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param set-default RC_MAP_THROTTLE 3
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param set-default RC_MAP_YAW 4
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param set-default RC1_DZ 10
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param set-default RC1_MAX 1988
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param set-default RC1_MIN 1003
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param set-default RC1_REV 1
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param set-default RC1_TRIM 1499
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param set-default RC2_DZ 10
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param set-default RC2_MAX 1987
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param set-default RC2_MIN 1023
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param set-default RC2_REV -1
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param set-default RC2_TRIM 1499
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param set-default RC3_DZ 10
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param set-default RC3_MAX 1877
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param set-default RC3_MIN 1023
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param set-default RC3_REV 1
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param set-default RC3_TRIM 1023
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param set-default RC4_DZ 10
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param set-default RC4_MAX 1998
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param set-default RC4_MIN 1012
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param set-default RC4_REV 1
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param set-default RC4_TRIM 1500
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param set-default RC5_DZ 10
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param set-default RC5_MAX 2000
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param set-default RC5_MIN 1000
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param set-default RC5_REV 1
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param set-default RC5_TRIM 1500
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# enable high-speed link on telem 1
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param set-default MAV_0_RATE 80000
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param set-default MAV_0_MODE 2
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param set-default SER_TEL1_BAUD 921600
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set MIXER quad_x
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set PWM_OUT 1234
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set MIXER_AUX none
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