mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-21 10:23:35 +08:00
Daniel AgarandBeat Küng
089c962d92
Using mixers on the IO side had a remote benefit of being able to override all control surfaces with a radio remote on a fixed wing. This ended up not being used that much and since the original design 10 years ago (2011) we have been able to convince ourselves that the overall system stability is at a level where this marginal benefit, which is not present on multicopters, is not worth the hazzle. Co-authored-by: Beat Küng <beat-kueng@gmx.net> Co-authored-by: Daniel Agar <daniel@agar.ca>
90 lines
2.6 KiB
Bash
90 lines
2.6 KiB
Bash
#!/bin/sh
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#
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# @name 3DR Solo
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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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# @maintainer Andreas Antener <andreas@uaventure.com>
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#
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# @board px4_fmu-v2 exclude
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# @board px4_fmu-v3 exclude
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# @board px4_fmu-v4 exclude
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# @board px4_fmu-v4pro exclude
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# @board px4_fmu-v5 exclude
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# @board px4_fmu-v5x exclude
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# @board bitcraze_crazyflie exclude
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#
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. ${R}etc/init.d/rc.mc_defaults
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# tuning
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param set-default MC_PITCHRATE_P 0.11
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param set-default MC_ROLLRATE_P 0.11
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param set-default MPC_MANTHR_MIN 0.08
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param set-default MPC_XY_VEL_MAX 3
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param set-default MPC_Z_VEL_MAX_DN 2
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# takeoff, land and RTL settings
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param set-default MIS_TAKEOFF_ALT 4
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param set-default RTL_LAND_DELAY 1
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param set-default RTL_DESCEND_ALT 5
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param set-default RTL_RETURN_ALT 15
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param set-default MPC_TILTMAX_LND 8
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param set-default MPC_LAND_SPEED 0.4
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param set-default MPC_HOLD_MAX_Z 1.5
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param set-default MPC_TKO_JMPSPD 2
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param set-default MPC_TKO_SPEED 1.5
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# setup
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# main board rotation: pitch 180
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param set-default SENS_BOARD_ROT 12
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# solo external mag rotation
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param set-default CAL_MAG0_ROT 38
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# no safety switch
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param set-default CBRK_IO_SAFETY 22027
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# battery voltage not available yet
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param set-default CBRK_SUPPLY_CHK 894281
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# RC configuration
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param set-default RC_MAP_PITCH 2
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param set-default RC_MAP_ROLL 1
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param set-default RC_MAP_THROTTLE 3
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param set-default RC_MAP_YAW 4
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param set-default RC1_DZ 10
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param set-default RC1_MAX 1988
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param set-default RC1_MIN 1003
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param set-default RC1_REV 1
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param set-default RC1_TRIM 1499
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param set-default RC2_DZ 10
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param set-default RC2_MAX 1987
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param set-default RC2_MIN 1023
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param set-default RC2_REV -1
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param set-default RC2_TRIM 1499
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param set-default RC3_DZ 10
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param set-default RC3_MAX 1877
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param set-default RC3_MIN 1023
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param set-default RC3_REV 1
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param set-default RC3_TRIM 1023
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param set-default RC4_DZ 10
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param set-default RC4_MAX 1998
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param set-default RC4_MIN 1012
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param set-default RC4_REV 1
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param set-default RC4_TRIM 1500
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param set-default RC5_DZ 10
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param set-default RC5_MAX 2000
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param set-default RC5_MIN 1000
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param set-default RC5_REV 1
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param set-default RC5_TRIM 1500
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# enable high-speed link on telem 1
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param set-default MAV_0_RATE 80000
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param set-default MAV_0_MODE 2
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param set-default SER_TEL1_BAUD 921600
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set MIXER quad_x
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set PWM_OUT 1234
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set MIXER_AUX none
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