mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-21 22:00:35 +08:00
Lorenz Meier
6bc11596fe
The baby shark config did mark main rate outputs (50 Hz) as alt rate, resulting in the alt rate being set to 50 Hz.
117 lines
3.0 KiB
Bash
117 lines
3.0 KiB
Bash
#!/bin/sh
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#
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# @name BabyShark VTOL
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#
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# @type Standard VTOL
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# @class VTOL
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#
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# @maintainer Silvan Fuhrer <silvan@auterion.com>
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#
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# @output MAIN1 Ailerons
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# @output MAIN2 A-tail left
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# @output MAIN3 Pusher motor
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# @output MAIN4 A-tail right
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# @output MAIN5 motor 1
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# @output MAIN6 motor 2
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# @output MAIN7 motor 3
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# @output MAIN8 motor 4
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#
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# @board px4_fmu-v2 exclude
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# @board bitcraze_crazyflie exclude
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#
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. ${R}etc/init.d/rc.vtol_defaults
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param set-default BAT_N_CELLS 6
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param set-default FW_AIRSPD_MAX 30
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param set-default FW_AIRSPD_MIN 19
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param set-default FW_AIRSPD_TRIM 23
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param set-default FW_L1_R_SLEW_MAX 40
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param set-default FW_LND_EARLYCFG 1
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param set-default FW_MAN_P_MAX 30
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param set-default FW_PR_I 0.1
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param set-default FW_PSP_OFF 3
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param set-default FW_P_LIM_MAX 18
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param set-default FW_P_LIM_MIN -25
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param set-default FW_RLL_TO_YAW_FF 0.1
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param set-default FW_RR_I 0.1
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param set-default FW_RR_P 0.08
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param set-default FW_R_LIM 45
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param set-default FW_R_RMAX 50
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param set-default FW_THR_CRUISE 0.65
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param set-default FW_THR_MIN 0.3
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param set-default FW_THR_SLEW_MAX 0.6
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param set-default FW_T_HRATE_FF 0
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param set-default FW_T_SINK_MAX 15
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param set-default FW_T_SINK_MIN 3
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param set-default FW_YR_I 0.1
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param set-default FW_YR_P 0.15
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param set-default IMU_GYRO_CUTOFF 40
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param set-default IMU_DGYRO_CUTOFF 15
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param set-default MC_PITCHRATE_I 0.2
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param set-default MC_PITCHRATE_MAX 60
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param set-default MC_ROLLRATE_I 0.2
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param set-default MC_ROLLRATE_MAX 60
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param set-default MC_YAWRATE_I 0.15
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param set-default MC_YAWRATE_MAX 40
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param set-default MC_YAWRATE_P 0.3
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param set-default MIS_TAKEOFF_ALT 30
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param set-default MPC_ACC_DOWN_MAX 2
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param set-default MPC_ACC_HOR_MAX 2
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param set-default MPC_ACC_UP_MAX 3
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param set-default MC_AIRMODE 1
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param set-default MPC_JERK_AUTO 4
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param set-default MPC_LAND_SPEED 1
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param set-default MPC_MAN_TILT_MAX 25
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param set-default MPC_MAN_Y_MAX 40
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param set-default MPC_POS_MODE 3
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param set-default MPC_SPOOLUP_TIME 1.5
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param set-default MPC_THR_HOVER 0.45
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param set-default MPC_TILTMAX_AIR 25
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param set-default MPC_TKO_RAMP_T 1.8
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param set-default MPC_TKO_SPEED 1
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param set-default MPC_VEL_MANUAL 3
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param set-default MPC_XY_CRUISE 3
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param set-default MPC_XY_VEL_MAX 3.5
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param set-default MPC_YAWRAUTO_MAX 40
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param set-default MPC_Z_VEL_MAX_DN 1.5
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param set-default MPC_Z_VEL_MAX_UP 2
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param set-default NAV_ACC_RAD 3
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param set-default PWM_MAIN_DIS3 1000
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param set-default PWM_MAIN_MIN3 1120
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param set-default PWM_MAIN_MIN 950
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param set-default SENS_BOARD_ROT 4
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param set-default VT_ARSP_BLEND 10
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param set-default VT_ARSP_TRANS 21
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param set-default VT_B_DEC_MSS 1.5
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param set-default VT_B_TRANS_DUR 12
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param set-default VT_ELEV_MC_LOCK 0
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param set-default VT_FWD_THRUST_SC 1.2
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param set-default VT_FW_MOT_OFFID 5678
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param set-default VT_F_TR_OL_TM 8
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param set-default VT_IDLE_PWM_MC 1000
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param set-default VT_MOT_ID 5678
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param set-default VT_PSHER_RMP_DT 2
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param set-default VT_TRANS_MIN_TM 4
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param set-default VT_TYPE 2
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set MAV_TYPE 22
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set MIXER babyshark
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set MIXER_AUX pass
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# Mark outputs for the alternate rate
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# or D-Shot
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set PWM_OUT 5678
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