mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-20 06:23:34 +08:00
73 lines
1.7 KiB
Bash
73 lines
1.7 KiB
Bash
#!/bin/sh
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#
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# @name Fun Cub Quad 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 Simon Wilks <simon@uaventure.com>
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#
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# @output MAIN1 motor 1
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# @output MAIN2 motor 2
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# @output MAIN3 motor 3
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# @output MAIN4 motor 4
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# @output AUX1 Aileron 1
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# @output AUX2 Aileron 2
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# @output AUX3 Elevator
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# @output AUX4 Rudder
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# @output AUX5 Throttle
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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 PWM_AUX_DIS5 950
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param set-default PWM_MAIN_RATE 400
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param set-default MC_ROLL_P 6
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param set-default MC_ROLLRATE_P 0.17
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param set-default MC_ROLLRATE_I 0.002
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param set-default MC_ROLLRATE_D 0.004
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param set-default MC_ROLLRATE_FF 0
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param set-default MC_PITCH_P 6
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param set-default MC_PITCHRATE_P 0.19
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param set-default MC_PITCHRATE_I 0.002
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param set-default MC_PITCHRATE_D 0.004
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param set-default MC_PITCHRATE_FF 0
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param set-default MC_YAW_P 2.8
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param set-default MC_YAWRATE_P 0.22
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param set-default MC_YAWRATE_I 0.02
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param set-default MC_YAWRATE_D 0
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param set-default MC_YAWRATE_FF 0
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param set-default MC_YAWRATE_MAX 40
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param set-default MPC_YAWRAUTO_MAX 40
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param set-default FW_PR_FF 0.5
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param set-default FW_PR_I 0.02
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param set-default FW_PR_IMAX 0.4
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param set-default FW_PR_P 0.08
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param set-default FW_RR_FF 0.6
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param set-default FW_RR_I 0.01
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param set-default FW_RR_IMAX 0.2
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param set-default FW_RR_P 0.05
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param set-default FW_THR_CRUISE 0.75
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param set-default VT_ARSP_BLEND 6
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param set-default VT_ARSP_TRANS 12
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param set-default VT_F_TRANS_THR 0.75
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param set-default VT_MOT_ID 1234
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param set-default VT_FW_MOT_OFFID 1234
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param set-default VT_IDLE_PWM_MC 1080
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param set-default VT_TYPE 2
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set MAV_TYPE 22
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set MIXER quad_x
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set MIXER_AUX vtol_AAERT
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set PWM_OUT 1234
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