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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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64 lines
1.4 KiB
Plaintext
64 lines
1.4 KiB
Plaintext
#!nsh
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set VEHICLE_TYPE vtol
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if [ $DO_AUTOCONFIG == yes ]
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then
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#Default parameters for MC
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param set MC_ROLL_P 7.0
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param set MC_ROLLRATE_P 0.1
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param set MC_ROLLRATE_I 0.0
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param set MC_ROLLRATE_D 0.003
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param set MC_PITCH_P 7.0
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param set MC_PITCHRATE_P 0.1
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param set MC_PITCHRATE_I 0.0
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param set MC_PITCHRATE_D 0.003
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param set MC_YAW_P 2.8
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param set MC_YAWRATE_P 0.2
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param set MC_YAWRATE_I 0.1
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param set MC_YAWRATE_D 0.0
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param set MC_YAW_FF 0.5
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param set MPC_THR_MAX 1.0
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param set MPC_THR_MIN 0.1
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param set MPC_XY_P 1.0
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param set MPC_XY_VEL_P 0.1
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param set MPC_XY_VEL_I 0.02
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param set MPC_XY_VEL_D 0.01
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param set MPC_XY_VEL_MAX 5
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param set MPC_XY_FF 0.5
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param set MPC_Z_P 1.0
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param set MPC_Z_VEL_P 0.1
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param set MPC_Z_VEL_I 0.02
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param set MPC_Z_VEL_D 0.0
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param set MPC_Z_VEL_MAX 3
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param set MPC_Z_FF 0.5
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param set MPC_TILTMAX_AIR 45.0
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param set MPC_TILTMAX_LND 15.0
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param set MPC_LAND_SPEED 1.0
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param set PE_VELNE_NOISE 0.5
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param set PE_VELD_NOISE 0.7
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param set PE_POSNE_NOISE 0.5
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param set PE_POSD_NOISE 1.0
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param set NAV_ACCEPT_RAD 2.0
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#
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# Default parameters for FW
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#
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param set NAV_LAND_ALT 90
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param set NAV_RTL_ALT 100
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param set NAV_RTL_LAND_T -1
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param set NAV_ACCEPT_RAD 50
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param set FW_T_HRATE_P 0.01
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param set FW_T_RLL2THR 15
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param set FW_T_SRATE_P 0.01
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param set FW_T_TIME_CONST 5
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fi
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set PWM_RATE 400
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set PWM_DISARMED 900
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set PWM_MIN 1075
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set PWM_MAX 2000
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