mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
46 lines
868 B
Plaintext
46 lines
868 B
Plaintext
#!nsh
|
|
#
|
|
# @name Standard VTOL
|
|
#
|
|
# @type Standard VTOL
|
|
#
|
|
|
|
sh /etc/init.d/rc.vtol_defaults
|
|
|
|
if [ $AUTOCNF == yes ]
|
|
then
|
|
param set MAV_TYPE 22
|
|
|
|
param set FW_AIRSPD_MAX 25
|
|
param set FW_AIRSPD_MIN 14
|
|
param set FW_AIRSPD_TRIM 16
|
|
|
|
param set MC_ROLLRATE_P 0.3
|
|
param set MIS_LTRMIN_ALT 10
|
|
param set MIS_TAKEOFF_ALT 10
|
|
param set MIS_YAW_TMT 10
|
|
param set MPC_ACC_HOR_MAX 2
|
|
param set MPC_ACC_HOR_MAX 2.0
|
|
param set MPC_THR_MIN 0.1
|
|
param set MPC_TKO_SPEED 1.0
|
|
param set MPC_XY_P 0.8
|
|
param set MPC_XY_VEL_D 0.005
|
|
param set MPC_XY_VEL_I 0.2
|
|
param set MPC_XY_VEL_P 0.15
|
|
param set MPC_Z_VEL_MAX_DN 1.5
|
|
|
|
param set NAV_ACC_RAD 5.0
|
|
param set NAV_LOITER_RAD 80
|
|
|
|
param set VT_F_TRANS_DUR 5
|
|
param set VT_F_TRANS_THR 0.75
|
|
param set VT_MOT_COUNT 4
|
|
param set VT_TYPE 2
|
|
|
|
param set WEST_EN 1
|
|
fi
|
|
|
|
set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
|
|
set MIXER custom
|
|
|