mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-02 05:04:08 +08:00
8221940b60
* lib: add FilteredDerivative class * AirspeedValidator: add first principle check - filters throttle, pitch and airspeed rate, and triggers if the airspeed rate is negative even though the vehicle is pitching down and giving high throttle. Check has to fail for duration defined by ASPD_FP_T_WINDOW to trigger an airspeed failure. * AirspeedValidator: define constants for first principle check * FilteredDerivative: set initialised to false if sample interval is invalid * airspeed_selector: improved comment * increase IAS derivative filter time constant from 4 to 5 * use legacy parameter handling for FW_PSP_OFF * handle FW_THR_MAX as well * ROMFS/airframes: exclude some airframes for v6x and v4pro to save flash on them --------- Signed-off-by: Silvan Fuhrer <silvan@auterion.com> Signed-off-by: RomanBapst <bapstroman@gmail.com> Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
48 lines
1.3 KiB
Bash
48 lines
1.3 KiB
Bash
#!/bin/sh
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#
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# @name COEX Clover 4
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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 Oleg Kalachev <okalachev@gmail.com>
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#
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# @board px4_fmu-v2 exclude
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# @board px4_fmu-v4pro 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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param set-default MC_PITCHRATE_P 0.087
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param set-default MC_PITCHRATE_I 0.037
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param set-default MC_PITCHRATE_D 0.0044
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param set-default MC_PITCH_P 8.5
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param set-default MC_ROLLRATE_P 0.087
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param set-default MC_ROLLRATE_I 0.037
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param set-default MC_ROLLRATE_D 0.0044
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param set-default MC_ROLL_P 8.5
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param set-default MPC_XY_VEL_P_ACC 2.2
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param set-default MPC_XY_VEL_D_ACC 0.26
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param set-default MPC_XY_P 1.1
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param set-default MPC_Z_VEL_P_ACC 4.8
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param set-default MPC_Z_P 1.2
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# Square quadrotor X PX4 numbering
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param set-default CA_ROTOR_COUNT 4
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param set-default CA_ROTOR0_PX 1
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param set-default CA_ROTOR0_PY 1
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param set-default CA_ROTOR1_PX -1
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param set-default CA_ROTOR1_PY -1
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param set-default CA_ROTOR2_PX 1
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param set-default CA_ROTOR2_PY -1
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param set-default CA_ROTOR2_KM -0.05
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param set-default CA_ROTOR3_PX -1
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param set-default CA_ROTOR3_PY 1
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param set-default CA_ROTOR3_KM -0.05
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param set-default PWM_MAIN_FUNC1 101
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param set-default PWM_MAIN_FUNC2 102
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param set-default PWM_MAIN_FUNC3 103
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param set-default PWM_MAIN_FUNC4 104
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