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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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46 lines
811 B
Bash
46 lines
811 B
Bash
#!/bin/sh
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#
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# @name VTOL Tiltrotor
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#
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# @type VTOL Tiltrotor
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#
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. ${R}etc/init.d/rc.vtol_defaults
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if [ $AUTOCNF = yes ]
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then
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param set FW_L1_PERIOD 12
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param set FW_MAN_P_MAX 30
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param set FW_PR_FF 0.2
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param set FW_PR_I 0.4
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param set FW_PR_P 0.9
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param set FW_PSP_OFF 3
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param set FW_RR_FF 0.1
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param set FW_RR_P 0.3
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param set MC_YAW_P 1.6
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param set MIS_TAKEOFF_ALT 10
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param set MPC_ACC_HOR_MAX 2
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param set MPC_XY_P 0.8
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param set MPC_XY_VEL_P_ACC 3
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param set MPC_XY_VEL_I_ACC 4
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param set MPC_XY_VEL_D_ACC 0.1
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param set NAV_LOITER_RAD 100
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param set VT_B_TRANS_DUR 8
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param set VT_ELEV_MC_LOCK 0
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param set VT_FWD_THRUST_EN 4
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param set VT_MOT_ID 1234
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param set VT_TILT_TRANS 0.6
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param set VT_TYPE 1
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fi
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set MAV_TYPE 21
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set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
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set MIXER custom
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