mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 13:48:54 +08:00
94 lines
2.1 KiB
Bash
94 lines
2.1 KiB
Bash
#!/bin/sh
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#
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# @name UVify IFO
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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 Hyon Lim <lim@uvify.com>
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#
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# @board px4_fmu-v2 exclude
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# @board px4_fmu-v3 exclude
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# @board px4_fmu-v4pro exclude
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# @board px4_fmu-v5 exclude
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# @board px4_fmu-v5x exclude
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# @board bitcraze_crazyflie exclude
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# @board cuav_x7pro exclude
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#
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set VEHICLE_TYPE mc
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set MIXER quad_x
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set PWM_OUT 1234
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# Attitude & rate gains
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param set-default MC_ROLLRATE_D 0.0013
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param set-default MC_PITCHRATE_D 0.0016
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param set-default MC_YAW_FF 0.5
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param set-default MPC_MANTHR_MAX 0.9
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param set-default MPC_MANTHR_MIN 0.08
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# Filter settings
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param set-default IMU_DGYRO_CUTOFF 90
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param set-default IMU_GYRO_CUTOFF 100
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# System
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param set-default PWM_MAIN_MIN 1100
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param set-default PWM_MAIN_RATE 0
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param set-default SENS_BOARD_ROT 10
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# EKF2
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param set-default EKF2_GND_EFF_DZ 6
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param set-default EKF2_HGT_MODE 1
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# Position control
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param set-default MPC_Z_P 1
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param set-default MPC_Z_VEL_P_ACC 4
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param set-default MPC_Z_VEL_I_ACC 0.4
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param set-default MPC_THR_MIN 0.06
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param set-default MPC_THR_HOVER 0.3
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param set-default MIS_TAKEOFF_ALT 1.1
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param set-default MPC_XY_P 1.7
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param set-default MPC_XY_VEL_P_ACC 2.6
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param set-default MPC_XY_VEL_I_ACC 1.2
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param set-default MPC_XY_VEL_D_ACC 0.2
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param set-default MPC_TKO_RAMP_T 1
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param set-default MPC_TKO_SPEED 1.1
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param set-default MPC_VEL_MANUAL 3
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param set-default BAT1_SOURCE 0
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param set-default BAT1_N_CELLS 4
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param set-default BAT1_V_DIV 10.14
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param set-default BAT1_A_PER_V 18.18
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param set-default COM_DISARM_LAND 2
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# Filter settings
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param set-default IMU_GYRO_CUTOFF 90
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param set-default IMU_DGYRO_CUTOFF 70
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# Don't try to be intelligent on RC loss: just cut the motors
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param set-default NAV_RCL_ACT 6
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# TELEM1 ttyS1 - Wifi module
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param set-default MAV_0_CONFIG 101
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param set-default MAV_0_RATE 0
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# onboard
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param set-default MAV_0_MODE 2
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param set-default SER_TEL1_BAUD 921600
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# TELEM2 ttyS2 - Sub 1-Ghz
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param set-default MAV_1_CONFIG 102
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# normal
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param set-default MAV_1_MODE 0
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param set-default SER_TEL2_BAUD 57600
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