mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-20 04:03:34 +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
50 lines
1.2 KiB
Bash
50 lines
1.2 KiB
Bash
#!/bin/sh
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#
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# @name Generic Hexarotor + geometry
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#
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# @type Hexarotor +
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# @class Copter
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#
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# @output MAIN1 motor1
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# @output MAIN2 motor2
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# @output MAIN3 motor3
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# @output MAIN4 motor4
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# @output MAIN5 motor5
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# @output MAIN6 motor6
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#
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# @output AUX1 feed-through of RC AUX1 channel
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# @output AUX2 feed-through of RC AUX2 channel
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# @output AUX3 feed-through of RC AUX3 channel
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#
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# @maintainer Lorenz Meier <lorenz@px4.io>
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#
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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_HEXAROTOR 13
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param set-default MAV_TYPE 13
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param set-default CA_ROTOR_COUNT 6
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param set-default CA_ROTOR0_PX 0.5
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param set-default CA_ROTOR0_PY 0.0
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param set-default CA_ROTOR0_KM -0.05
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param set-default CA_ROTOR1_PX -0.5
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param set-default CA_ROTOR1_PY 0.0
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param set-default CA_ROTOR2_PX -0.25
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param set-default CA_ROTOR2_PY -0.43
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param set-default CA_ROTOR2_KM -0.05
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param set-default CA_ROTOR3_PX 0.25
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param set-default CA_ROTOR3_PY 0.43
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param set-default CA_ROTOR4_PX 0.25
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param set-default CA_ROTOR4_PY -0.43
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param set-default CA_ROTOR5_PX -0.25
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param set-default CA_ROTOR5_PY 0.43
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param set-default CA_ROTOR5_KM -0.05
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set MIXER hexa_+
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# Need to set all 8 channels
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set PWM_OUT 12345678
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