mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 11:28:52 +08:00
Beat Küng
76d8d8cae6
This adds the pusher/puller to the standard motors and makes the axis configurable.
63 lines
1.5 KiB
Bash
63 lines
1.5 KiB
Bash
#!/bin/sh
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#
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# @name Generic Quadplane VTOL
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#
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# @type Standard VTOL
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# @class VTOL
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#
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# @maintainer
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#
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# @output MAIN1 motor 1
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# @output MAIN2 motor 2
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# @output MAIN3 motor 3
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# @output MAIN4 motor 4
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# @output AUX1 Aileron 1
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# @output AUX2 Aileron 2
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# @output AUX3 Elevator
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# @output AUX4 Rudder
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# @output AUX5 Throttle
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#
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# @board px4_fmu-v2 exclude
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# @board bitcraze_crazyflie exclude
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# @board holybro_kakutef7 exclude
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#
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. ${R}etc/init.d/rc.vtol_defaults
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param set-default CA_AIRFRAME 2
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param set-default CA_ROTOR_COUNT 5
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param set-default CA_ROTOR0_PX 0.15
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param set-default CA_ROTOR0_PY 0.15
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param set-default CA_ROTOR1_PX -0.15
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param set-default CA_ROTOR1_PY -0.15
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param set-default CA_ROTOR2_PX 0.15
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param set-default CA_ROTOR2_PY -0.15
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param set-default CA_ROTOR2_KM -0.05
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param set-default CA_ROTOR3_PX -0.15
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param set-default CA_ROTOR3_PY 0.15
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param set-default CA_ROTOR3_KM -0.05
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param set-default CA_ROTOR4_AX 1.0
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param set-default CA_ROTOR4_AZ 0.0
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param set-default CA_ROTOR4_PX 0.2
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param set-default CA_SV_CS_COUNT 4
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param set-default CA_SV_CS0_TYPE 1
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param set-default CA_SV_CS0_TRQ_R -0.5
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param set-default CA_SV_CS1_TYPE 2
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param set-default CA_SV_CS1_TRQ_R 0.5
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param set-default CA_SV_CS2_TYPE 3
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param set-default CA_SV_CS2_TRQ_P 1.0
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param set-default CA_SV_CS3_TRQ_Y 1.0
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param set-default CA_SV_CS3_TYPE 4
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param set-default PWM_AUX_DIS5 950
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param set-default VT_TYPE 2
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param set-default VT_MOT_ID 1234
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param set-default VT_FW_MOT_OFFID 1234
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set MAV_TYPE 22
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set MIXER quad_x
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set MIXER_AUX vtol_AAERT
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set PWM_OUT 1234
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