mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-21 07:43:35 +08:00
Matthias Grob
cc0bc05156
It scales the yawspeed setpoint arbitrarily by default with 0.5. This makes no sense because when you give a setpoint of 1rad/s then you expect the setpoint to get executed. If you want manual yawspeed response to be less agressive on the stick use the scaling parameter for the stick MPC_MAN_Y_MAX.
58 lines
1.2 KiB
Plaintext
58 lines
1.2 KiB
Plaintext
#!nsh
|
|
#
|
|
# @name BirdsEyeView Aerobotics FireFly6
|
|
# @type VTOL Tiltrotor
|
|
# @class VTOL
|
|
#
|
|
# @maintainer Roman Bapst <roman@uaventure.com>
|
|
#
|
|
# @output MAIN1 Front right motor bottom
|
|
# @output MAIN2 Front right motor top
|
|
# @output MAIN3 Back motor bottom
|
|
# @output MAIN4 Back motor top
|
|
# @output MAIN5 Front left motor bottom
|
|
# @output MAIN6 Front left motor top
|
|
# @output AUX1 Tilt servo
|
|
# @output AUX2 Elevon 1
|
|
# @output AUX3 Elevon 2
|
|
# @output AUX4 Gear
|
|
#
|
|
|
|
sh /etc/init.d/rc.vtol_defaults
|
|
|
|
if [ $AUTOCNF == yes ]
|
|
then
|
|
param set MC_ROLL_P 7.0
|
|
param set MC_ROLLRATE_P 0.19
|
|
param set MC_ROLLRATE_I 0.002
|
|
param set MC_ROLLRATE_D 0.005
|
|
param set MC_ROLLRATE_FF 0.0
|
|
param set MC_PITCH_P 7.0
|
|
param set MC_PITCHRATE_P 0.14
|
|
param set MC_PITCHRATE_I 0.002
|
|
param set MC_PITCHRATE_D 0.004
|
|
param set MC_PITCHRATE_FF 0.0
|
|
param set MC_YAW_P 4.0
|
|
param set MC_YAWRATE_P 0.22
|
|
param set MC_YAWRATE_I 0.02
|
|
param set MC_YAWRATE_D 0.0
|
|
param set MC_YAWRATE_FF 0.0
|
|
|
|
param set VT_TILT_MC 0.08
|
|
param set VT_TILT_TRANS 0.5
|
|
param set VT_TILT_FW 0.9
|
|
|
|
param set VT_MOT_COUNT 6
|
|
param set VT_FW_MOT_OFFID 34
|
|
param set VT_IDLE_PWM_MC 1080
|
|
param set VT_TYPE 1
|
|
fi
|
|
|
|
set MIXER firefly6
|
|
set PWM_OUT 12345678
|
|
set PWM_RATE 400
|
|
|
|
set MIXER_AUX firefly6
|
|
|
|
set MAV_TYPE 21
|