mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-25 11:03:34 +08:00
Daniel Agar
36e6527013
- set MAV_TYPE as a parameter default per vehicle type, or airframe if necessary - cleanup MAV_TYPE param metadata and commander helper to only include what's currently used in PX4
49 lines
1.1 KiB
Bash
49 lines
1.1 KiB
Bash
#!/bin/sh
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#
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# @name Esky (Big) Lama v4
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#
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# @type Coaxial Helicopter
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# @class Copter
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#
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# @output MAIN1 Left swashplate servomotor, pitch axis
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# @output MAIN2 Right swashplate servomotor, roll axis
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# @output MAIN3 Upper rotor (CCW)
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# @output MAIN4 Lower rotor (CW)
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#
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# @maintainer Emmanuel Roussel
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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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#
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. ${R}etc/init.d/rc.mc_defaults
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# MAV_TYPE_COAXIAL 3
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param set-default MAV_TYPE 3
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param set-default MC_ROLLRATE_P 0.17
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param set-default MC_ROLLRATE_I 0.05
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param set-default MC_ROLLRATE_D 0.005
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param set-default MC_PITCHRATE_P 0.17
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param set-default MC_PITCHRATE_I 0.05
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param set-default MC_PITCHRATE_D 0.005
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param set-default MC_YAW_P 2
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param set-default MC_YAWRATE_P 0.1
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param set-default NAV_ACC_RAD 2
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param set-default PWM_AUX_RATE 50
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param set-default PWM_MAIN_DISARM 900
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param set-default PWM_MAIN_RATE 400
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param set-default RTL_RETURN_ALT 30
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param set-default RTL_DESCEND_ALT 10
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set MIXER coax
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# This is the gimbal pass mixer
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set MIXER_AUX pass
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# use PWM parameters for throttle channel
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set PWM_OUT 34
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