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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-02 05:04:08 +08:00
76 lines
1.5 KiB
Bash
76 lines
1.5 KiB
Bash
#!/bin/sh
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#
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# @name Hex X with control allocation
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#
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# @type Hexarotor x
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# @class Copter
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#
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# @maintainer Silvan Fuhrer
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#
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. ${R}etc/init.d/rc.mc_defaults
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. ${R}etc/init.d/rc.ctrlalloc
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if [ $AUTOCNF = yes ]
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then
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param set MPC_USE_HTE 0
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param set VM_MASS 1.5
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param set VM_INERTIA_XX 0.03
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param set VM_INERTIA_YY 0.03
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param set VM_INERTIA_ZZ 0.05
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param set CA_AIRFRAME 0
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param set CA_METHOD 1
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param set CA_ACT0_MIN 0.0
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param set CA_ACT1_MIN 0.0
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param set CA_ACT2_MIN 0.0
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param set CA_ACT3_MIN 0.0
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param set CA_ACT4_MIN 0.0
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param set CA_ACT5_MIN 0.0
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param set CA_ACT0_MAX 1.0
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param set CA_ACT1_MAX 1.0
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param set CA_ACT2_MAX 1.0
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param set CA_ACT3_MAX 1.0
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param set CA_ACT4_MAX 1.0
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param set CA_ACT5_MAX 1.0
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param set CA_MC_R0_PX 0.0
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param set CA_MC_R0_PY 0.275
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param set CA_MC_R0_CT 6.5
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param set CA_MC_R0_KM -0.05
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param set CA_MC_R1_PX 0.0
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param set CA_MC_R1_PY -0.275
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param set CA_MC_R1_CT 6.5
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param set CA_MC_R1_KM 0.05
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param set CA_MC_R2_PX 0.238
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param set CA_MC_R2_PY -0.1375
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param set CA_MC_R2_CT 6.5
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param set CA_MC_R2_KM -0.05
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param set CA_MC_R3_PX -0.238
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param set CA_MC_R3_PY 0.1375
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param set CA_MC_R3_CT 6.5
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param set CA_MC_R3_KM 0.05
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param set CA_MC_R4_PX 0.238
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param set CA_MC_R4_PY 0.1375
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param set CA_MC_R4_CT 6.5
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param set CA_MC_R4_KM 0.05
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param set CA_MC_R5_PX -0.238
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param set CA_MC_R5_PY -0.1375
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param set CA_MC_R5_CT 6.5
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param set CA_MC_R5_KM -0.05
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fi
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set MIXER direct
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set PWM_OUT 123456
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set MIXER_AUX direct_aux
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set PWM_AUX_OUT 123456
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