mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-27 17:33:35 +08:00
Beat Küng
300e66ae6a
Replaced with the more generic serial config params. rc.mavlink contains automatic transition support that can be removed after the next release.
99 lines
2.4 KiB
Plaintext
99 lines
2.4 KiB
Plaintext
#!nsh
|
|
#
|
|
# @name 3DR Solo
|
|
#
|
|
# @type Quadrotor x
|
|
# @class Copter
|
|
#
|
|
# @board px4fmu-v2 exclude
|
|
# @board px4fmu-v4 exclude
|
|
# @board px4fmu-v4pro exclude
|
|
# @board px4fmu-v5 exclude
|
|
# @board aerofc-v1 exclude
|
|
#
|
|
# @maintainer Andreas Antener <andreas@uaventure.com>
|
|
#
|
|
|
|
sh /etc/init.d/rc.mc_defaults
|
|
|
|
if [ $AUTOCNF == yes ]
|
|
then
|
|
# tuning
|
|
param set MC_PITCHRATE_P 0.11
|
|
param set MC_ROLLRATE_P 0.11
|
|
param set MPC_MANTHR_MIN 0.08
|
|
param set MPC_XY_VEL_MAX 3.0
|
|
param set MPC_Z_VEL_MAX_DN 2.0
|
|
|
|
# INAV: higher GPS weights for better altitude control
|
|
param set INAV_W_Z_BARO 0.3
|
|
param set INAV_W_Z_GPS_P 0.8
|
|
param set INAV_W_Z_GPS_V 0.8
|
|
|
|
# takeoff, land and RTL settings
|
|
param set MIS_TAKEOFF_ALT 4.0
|
|
param set COM_DISARM_LAND 1.0
|
|
param set RTL_LAND_DELAY 1
|
|
param set RTL_DESCEND_ALT 5.0
|
|
param set RTL_RETURN_ALT 15.0
|
|
param set MPC_TILTMAX_LND 8.0
|
|
param set MPC_LAND_SPEED 0.4
|
|
param set MPC_HOLD_MAX_Z 1.5
|
|
param set MPC_TKO_JMPSPD 2.0
|
|
param set MPC_TKO_SPEED 1.5
|
|
|
|
# setup
|
|
# main board rotation: pitch 180
|
|
param set SENS_BOARD_ROT 12
|
|
# solo external mag rotation
|
|
param set CAL_MAG0_ROT 30
|
|
# no safety switch
|
|
param set CBRK_IO_SAFETY 22027
|
|
# battery voltage not available yet
|
|
param set CBRK_SUPPLY_CHK 894281
|
|
|
|
# RC configuration
|
|
param set RC_MAP_MODE_SW 5
|
|
param set RC_MAP_PITCH 2
|
|
param set RC_MAP_ROLL 1
|
|
param set RC_MAP_THROTTLE 3
|
|
param set RC_MAP_YAW 4
|
|
|
|
param set RC1_DZ 10
|
|
param set RC1_MAX 1988
|
|
param set RC1_MIN 1003
|
|
param set RC1_REV 1
|
|
param set RC1_TRIM 1499
|
|
param set RC2_DZ 10
|
|
param set RC2_MAX 1987
|
|
param set RC2_MIN 1023
|
|
param set RC2_REV -1
|
|
param set RC2_TRIM 1499
|
|
param set RC3_DZ 10
|
|
param set RC3_MAX 1877
|
|
param set RC3_MIN 1023
|
|
param set RC3_REV 1
|
|
param set RC3_TRIM 1023
|
|
param set RC4_DZ 10
|
|
param set RC4_MAX 1998
|
|
param set RC4_MIN 1012
|
|
param set RC4_REV 1
|
|
param set RC4_TRIM 1500
|
|
param set RC5_DZ 10
|
|
param set RC5_MAX 2000
|
|
param set RC5_MIN 1000
|
|
param set RC5_REV 1
|
|
param set RC5_TRIM 1500
|
|
|
|
# enable high-speed link on telem 1
|
|
param set MAV_0_RATE 80000
|
|
param set MAV_0_MODE 2
|
|
param set SER_TEL1_BAUD 921600
|
|
fi
|
|
|
|
set MIXER quad_x
|
|
|
|
set PWM_OUT 1234
|
|
set MIXER_AUX none
|
|
|