mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 05:23:35 +08:00
65 lines
1.3 KiB
Bash
65 lines
1.3 KiB
Bash
#!/bin/sh
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#
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# @name Generic quad delta 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 Simon Wilks <simon@uaventure.com>
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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 Right elevon
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# @output AUX2 Left elevon
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# @output AUX3 Motor
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#
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# @board px4_fmu-v2 exclude
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# @board intel_aerofc-v1 exclude
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# @board bitcraze_crazyflie exclude
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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 MC_ROLL_P 6.5
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param set MC_ROLLRATE_P 0.15
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param set MC_ROLLRATE_I 0.01
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param set MC_ROLLRATE_D 0.003
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param set MC_ROLLRATE_FF 0
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param set MC_PITCH_P 6.5
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param set MC_PITCHRATE_P 0.15
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param set MC_PITCHRATE_I 0.01
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param set MC_PITCHRATE_D 0.003
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param set MC_PITCHRATE_FF 0
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param set MC_YAW_P 3.5
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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
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param set MC_YAWRATE_FF 0
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param set MC_YAWRATE_MAX 50
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param set MPC_XY_P 0.8
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param set MPC_XY_VEL_P_ACC 2
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param set MPC_ACC_HOR_MAX 2
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param set MPC_YAWRAUTO_MAX 20
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param set PWM_AUX_DIS3 950
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param set PWM_MAIN_RATE 400
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param set VT_MOT_ID 1234
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param set VT_FW_MOT_OFFID 1234
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param set VT_F_TRANS_THR 0.75
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param set VT_IDLE_PWM_MC 1080
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param set VT_TYPE 2
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fi
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set MAV_TYPE 22
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set MIXER quad_x
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set MIXER_AUX vtol_delta
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set PWM_OUT 1234
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