mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 14:58:53 +08:00
alessandro
1febba315a
Above grass fields I can frequently observe position instabilities with the mantis due to the optical flow fusion. Let's disable flow fusion for now.
178 lines
4.7 KiB
Bash
178 lines
4.7 KiB
Bash
#!/bin/sh
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#
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# @name Advanced Technology Labs (ATL) Mantis EDU
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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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# @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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#
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# @maintainer
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# @board px4_fmu-v2 exclude
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#
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. ${R}etc/init.d/rc.mc_defaults
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# We set the mixer and ESC manually.
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set MIXER skip
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set MIXER_AUX skip
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set MIXER_FILE ""
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# Battery settings
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param set-default BAT_CRIT_THR 0.20
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param set-default BAT_LOW_THR 0.25
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param set-default BAT1_CAPACITY 2800.0
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param set-default BAT1_N_CELLS 3
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param set-default BAT1_R_INTERNAL 0.02
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param set-default BAT1_V_CHARGED 4.26
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param set-default BAT1_V_EMPTY 3.45
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param set-default CBRK_SUPPLY_CHK 894281
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param set-default COM_DISARM_LAND 0.1
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param set-default COM_DISARM_PRFLT 3
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param set-default COM_DL_LOSS_T 10
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param set-default COM_FLTMODE1 2
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param set-default COM_FLTMODE2 -1
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param set-default COM_FLTMODE3 -1
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param set-default COM_FLTMODE4 -1
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param set-default COM_FLTMODE5 -1
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param set-default COM_FLTMODE6 1
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param set-default COM_RC_LOSS_T 3
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# ekf2
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param set-default EKF2_AID_MASK 33
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param set-default EKF2_BARO_DELAY 0
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param set-default EKF2_BARO_NOISE 2.0
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param set-default EKF2_BCOEF_X 31.5
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param set-default EKF2_BCOEF_Y 25.5
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param set-default EKF2_GPS_DELAY 100
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param set-default EKF2_GPS_POS_X 0.06
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param set-default EKF2_GPS_POS_Y 0.0
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param set-default EKF2_GPS_POS_Z 0.0
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param set-default EKF2_GPS_V_NOISE 0.5
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param set-default EKF2_IMU_POS_X 0.06
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param set-default EKF2_MAG_DELAY 0
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param set-default EKF2_MAG_NOISE 0.1
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param set-default EKF2_MIN_RNG 0.15
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param set-default EKF2_OF_DELAY 38
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param set-default EKF2_OF_GATE 2.0
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param set-default EKF2_OF_POS_X -0.035
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param set-default EKF2_OF_POS_Y 0.0
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param set-default EKF2_OF_POS_Z 0.033
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param set-default EKF2_OF_MIN_RNG 0.01
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param set-default EKF2_OF_A_HMAX 7.0
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param set-default EKF2_OF_QMIN 30
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param set-default EKF2_PCOEF_XN -0.3
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param set-default EKF2_PCOEF_XP -0.4
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param set-default EKF2_PCOEF_YN -0.4
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param set-default EKF2_PCOEF_YP -0.4
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param set-default EKF2_RNG_A_VMAX 1.0
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param set-default EKF2_RNG_AID 0
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param set-default EKF2_RNG_DELAY 55
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param set-default EKF2_RNG_POS_X -0.035
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param set-default EKF2_RNG_POS_Y 0.0
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param set-default EKF2_RNG_POS_Z 0.033
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param set-default EKF2_TERR_NOISE 1.0
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# Maximum allowed angle velocity in the landed state
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param set-default LNDMC_ROT_MAX 40.0
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# Maximum vertical velocity allowed in the landed state
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param set-default LNDMC_Z_VEL_MAX 0.7
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# filtering
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param set-default IMU_DGYRO_CUTOFF 50
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param set-default IMU_GYRO_CUTOFF 65
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# Pitch angle & rate setting
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param set-default MC_PITCHRATE_P 0.075
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param set-default MC_PITCHRATE_I 0.1
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param set-default MC_PITCHRATE_D 0.0005
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param set-default MC_PITCHRATE_MAX 360.0
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param set-default MC_PITCH_P 8.0
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# Roll angle & rate setting
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param set-default MC_ROLLRATE_P 0.055
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param set-default MC_ROLLRATE_I 0.1
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param set-default MC_ROLLRATE_D 0.0005
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param set-default MC_ROLLRATE_MAX 360.0
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param set-default MC_ROLL_P 8.0
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# Yaw angle & rate setting
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param set-default MC_YAWRATE_P 0.1
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param set-default MC_YAWRATE_MAX 120.0
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param set-default MC_YAW_P 2.5
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param set-default MPC_ACC_DOWN_MAX 2.0
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param set-default MPC_ACC_HOR 3.0
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param set-default MPC_ACC_HOR_MAX 10.0
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param set-default MPC_ACC_UP_MAX 3.0
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param set-default MPC_ALT_MODE 0
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param set-default MPC_LAND_SPEED 0.5
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param set-default MPC_LAND_VEL_XY 10
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param set-default MPC_MAN_TILT_MAX 20
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param set-default MPC_YAWRAUTO_MAX 80.0
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param set-default MPC_POS_MODE 4
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param set-default MPC_THR_HOVER 0.54
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param set-default MPC_THR_MAX 0.9
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param set-default MPC_THR_MIN 0.06
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param set-default MPC_TILTMAX_AIR 30
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param set-default MPC_XY_P 1.0
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param set-default MPC_XY_VEL_D 0.005
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param set-default MPC_XY_VEL_I 0.02
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param set-default MPC_XY_VEL_P 0.15
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param set-default MPC_Z_P 2.0
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param set-default MPC_Z_VEL_D 0.0
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param set-default MPC_Z_VEL_I 0.02
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param set-default MPC_Z_VEL_MAX_DN 2.0
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param set-default MPC_Z_VEL_P 0.27
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# gimbal configuration
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param set-default MNT_MODE_IN 0
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param set-default MNT_MODE_OUT 1
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param set-default MNT_MAN_PITCH 2
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param set-default MNT_RC_IN_MODE 1
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param set-default MNT_RATE_PITCH 30
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# RC
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param set-default RC_CHAN_CNT 12
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param set-default RC_MAP_THROTTLE 1
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param set-default RC_MAP_YAW 2
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param set-default RC_MAP_PITCH 3
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param set-default RC_MAP_ROLL 4
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param set-default RC_MAP_AUX2 5
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param set-default RC_MAP_AUX3 10
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param set-default RC_MAP_AUX4 8
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param set-default RC_MAP_FLTMODE 6
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param set-default RC1_TRIM 1000
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# optical flow
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param set-default SENS_FLOW_MAXR 7.4
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param set-default SENS_FLOW_MINHGT 0.15
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param set-default SENS_FLOW_MAXHGT 5.0
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param set-default SENS_FLOW_ROT 0
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# ignore the SD card errors and use normal startup sound
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set STARTUP_TUNE "1"
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