mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-15 17:21:38 +08:00
47 lines
887 B
Bash
47 lines
887 B
Bash
#!/bin/sh
|
|
#
|
|
# @name Quadrotor + Tailsitter
|
|
#
|
|
# @type VTOL Quad Tailsitter
|
|
#
|
|
|
|
. ${R}etc/init.d/rc.vtol_defaults
|
|
|
|
if [ $AUTOCNF = yes ]
|
|
then
|
|
param set FW_AIRSPD_MAX 25
|
|
param set FW_AIRSPD_MIN 14
|
|
param set FW_AIRSPD_TRIM 16
|
|
param set FW_L1_PERIOD 12
|
|
|
|
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
|
|
param set MPC_THR_MIN 0.1
|
|
param set MPC_TKO_SPEED 1
|
|
param set MPC_XY_P 0.15
|
|
param set MPC_XY_VEL_D_ACC 0.1
|
|
param set MPC_XY_VEL_I_ACC 4
|
|
param set MPC_XY_VEL_P_ACC 1
|
|
param set MPC_Z_VEL_MAX_DN 1.5
|
|
param set MPC_Z_VEL_P_ACC 16
|
|
|
|
param set NAV_ACC_RAD 5
|
|
param set NAV_LOITER_RAD 80
|
|
|
|
param set VT_F_TRANS_DUR 1.5
|
|
param set VT_F_TRANS_THR 0.7
|
|
param set VT_TYPE 0
|
|
|
|
fi
|
|
|
|
set MAV_TYPE 20
|
|
|
|
set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
|
|
set MIXER custom
|