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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-20 05:33:33 +08:00
36 lines
662 B
Bash
36 lines
662 B
Bash
#!/bin/sh
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#
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# @name F450-sized quadrotor with CAN
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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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# @board px4_fmu-v2 exclude
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#
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# @maintainer Pavel Kirienko <pavel.kirienko@gmail.com>
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#
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sh /etc/init.d/rc.mc_defaults
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set MIXER quad_x
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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 7
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param set MC_ROLLRATE_P 0.16
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param set MC_ROLLRATE_I 0.05
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param set MC_ROLLRATE_D 0.003
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param set MC_PITCH_P 7
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param set MC_PITCHRATE_P 0.16
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param set MC_PITCHRATE_I 0.05
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param set MC_PITCHRATE_D 0.003
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param set MC_YAW_P 2.8
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param set MC_YAWRATE_P 0.3
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param set MC_YAWRATE_I 0.1
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param set MC_YAWRATE_D 0
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fi
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set MIXER quad_x_can
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set OUTPUT_MODE uavcan_esc
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