mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-22 00:40:35 +08:00
Hamish Willee
68 lines
1.9 KiB
Bash
68 lines
1.9 KiB
Bash
#!/bin/sh
|
|
#
|
|
# @name HolyBro QAV250
|
|
#
|
|
# @url https://docs.px4.io/main/en/frames_multicopter/holybro_qav250_pixhawk4_mini
|
|
#
|
|
# @type Quadrotor x
|
|
# @class Copter
|
|
#
|
|
# @maintainer Beat Kueng <beat-kueng@gmx.net>
|
|
#
|
|
# @board px4_fmu-v2 exclude
|
|
# @board bitcraze_crazyflie exclude
|
|
# @board px4_fmu-v6x exclude
|
|
# @board ark_fmu-v6x exclude
|
|
#
|
|
|
|
. ${R}etc/init.d/rc.mc_defaults
|
|
|
|
# The set does not include a battery, but most people will probably use 4S
|
|
param set-default BAT1_N_CELLS 4
|
|
|
|
param set-default IMU_GYRO_CUTOFF 120
|
|
param set-default IMU_DGYRO_CUTOFF 45
|
|
|
|
param set-default MC_AIRMODE 1
|
|
param set-default MC_PITCHRATE_D 0.0012
|
|
param set-default MC_PITCHRATE_I 0.35
|
|
param set-default MC_PITCHRATE_MAX 1200
|
|
param set-default MC_PITCHRATE_P 0.082
|
|
param set-default MC_PITCH_P 8
|
|
param set-default MC_ROLLRATE_D 0.0012
|
|
param set-default MC_ROLLRATE_I 0.3
|
|
param set-default MC_ROLLRATE_MAX 1200
|
|
param set-default MC_ROLLRATE_P 0.076
|
|
param set-default MC_ROLL_P 8
|
|
param set-default MC_YAWRATE_I 0.3
|
|
param set-default MC_YAWRATE_MAX 600
|
|
param set-default MC_YAWRATE_P 0.25
|
|
param set-default MC_YAW_P 4
|
|
|
|
param set-default MPC_MANTHR_MIN 0
|
|
param set-default MPC_MAN_TILT_MAX 60
|
|
param set-default MPC_THR_CURVE 1
|
|
param set-default MPC_THR_HOVER 0.25
|
|
param set-default MPC_THR_MIN 0.05
|
|
param set-default MPC_Z_VEL_I_ACC 1.7
|
|
|
|
param set-default THR_MDL_FAC 0.3
|
|
|
|
# Square quadrotor X PX4 numbering
|
|
param set-default CA_ROTOR_COUNT 4
|
|
param set-default CA_ROTOR0_PX 1
|
|
param set-default CA_ROTOR0_PY 1
|
|
param set-default CA_ROTOR1_PX -1
|
|
param set-default CA_ROTOR1_PY -1
|
|
param set-default CA_ROTOR2_PX 1
|
|
param set-default CA_ROTOR2_PY -1
|
|
param set-default CA_ROTOR2_KM -0.05
|
|
param set-default CA_ROTOR3_PX -1
|
|
param set-default CA_ROTOR3_PY 1
|
|
param set-default CA_ROTOR3_KM -0.05
|
|
|
|
param set-default PWM_MAIN_FUNC1 101
|
|
param set-default PWM_MAIN_FUNC2 102
|
|
param set-default PWM_MAIN_FUNC3 103
|
|
param set-default PWM_MAIN_FUNC4 104
|