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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-19 04:03:34 +08:00
Bart Slinger
7f04e3c759
* Helicopter aiframe and basic PID control * codestyle * Blade 130x gains working but not optimal * Changed behaviour of feedforward for all multicopter
51 lines
1.0 KiB
Plaintext
51 lines
1.0 KiB
Plaintext
#!nsh
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#
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# @name Blade 130X
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#
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# @type Helicopter
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#
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# @maintainer Bart Slinger <bartslinger@gmail.com>
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#
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sh /etc/init.d/rc.mc_defaults
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# Configure as helicopter (number 4 defined in commander_helper.cpp)
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set MAV_TYPE 4
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set MIXER heli_120deg
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set PWM_OUT 1234
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if [ $AUTOCNF == yes ]
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then
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param set MC_ROLL_P 5.0
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param set MC_ROLLRATE_P 0.0
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param set MC_ROLLRATE_I 0.0
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param set MC_ROLLRATE_D 0.0
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param set MC_ROLLRATE_FF 0.15
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param set MC_PITCH_P 6.5
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param set MC_PITCHRATE_P 0.0
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param set MC_PITCHRATE_I 0.0
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param set MC_PITCHRATE_D 0.0
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param set MC_PITCHRATE_FF 0.15
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param set MC_YAW_P 3.0
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param set MC_YAWRATE_P 0.1
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param set MC_YAWRATE_I 0.0
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param set MC_YAWRATE_D 0.0
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param set MC_YAW_FF 0.0
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param set MC_ROLLRATE_MAX 720.0
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param set MC_PITCHRATE_MAX 720.0
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param set MC_YAWRATE_MAX 400.0
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param set MC_ACRO_R_MAX 360.0
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param set MC_ACRO_P_MAX 360.0
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param set PWM_MIN 1075
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param set MPC_THR_MIN 0.06
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param set MPC_MANTHR_MIN 0.06
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param set ATT_BIAS_MAX 0.0
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param set CBRK_IO_SAFETY 22027
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fi
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