mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-17 08:23:33 +08:00
161 lines
4.4 KiB
Bash
161 lines
4.4 KiB
Bash
#!/bin/sh
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#
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# @name Vertical Technologies DeltaQuad
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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 Sander Smeets <sander@droneslab.com>
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#
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# @output Motor1 motor 1
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# @output Motor2 motor 2
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# @output Motor3 motor 3
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# @output Motor4 motor 4
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# @output Servo1 Right elevon
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# @output Servo2 Left elevon
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# @output Servo3 Pusher motor
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# @output Servo4 Pusher reverse channel
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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.vtol_defaults
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param set-default MAV_TYPE 22
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param set-default BAT1_CAPACITY 23000
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param set-default BAT1_N_CELLS 4
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param set-default BAT1_R_INTERNAL 0.0025
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param set-default CBRK_AIRSPD_CHK 162128
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param set-default CBRK_IO_SAFETY 22027
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param set-default EKF2_GPS_POS_X -0.12
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param set-default EKF2_IMU_POS_X -0.12
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param set-default EKF2_TAU_VEL 0.5
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param set-default EKF2_GPS_P_GATE 10
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param set-default EKF2_GPS_V_GATE 10
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param set-default FW_ARSP_MODE 1
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param set-default FW_L1_PERIOD 25
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param set-default FW_PR_FF 0.7
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param set-default FW_PR_I 0.18
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param set-default FW_PR_P 0.15
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param set-default FW_P_TC 0.5
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param set-default FW_PSP_OFF 5
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param set-default FW_R_LIM 35
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param set-default FW_RR_FF 0.9
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param set-default FW_RR_I 0.08
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param set-default FW_RR_P 0.18
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param set-default FW_T_HRATE_FF 0.5
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param set-default FW_T_CLMB_MAX 3
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param set-default FW_T_SINK_MAX 3
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param set-default FW_T_SINK_MIN 1
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param set-default FW_T_VERT_ACC 6
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param set-default FW_THR_TRIM 0.70
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param set-default FW_THR_SLEW_MAX 1
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param set-default FW_P_LIM_MAX 15
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param set-default FW_P_LIM_MIN -25
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param set-default FW_P_RMAX_NEG 45
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param set-default FW_P_RMAX_POS 45
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param set-default FW_R_RMAX 50
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param set-default FW_THR_MIN 0.55
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param set-default FW_BAT_SCALE_EN 1
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param set-default FW_THR_ALT_SCL 2.7
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param set-default FW_T_RLL2THR 20
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param set-default LNDMC_XY_VEL_MAX 1
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param set-default LNDMC_Z_VEL_MAX 0.7
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param set-default MC_ROLLRATE_P 0.16
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param set-default MC_ROLLRATE_I 0.01
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param set-default MC_ROLLRATE_MAX 80
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param set-default MC_PITCHRATE_I 0.05
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param set-default MC_PITCHRATE_MAX 80
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param set-default MC_YAW_P 3.5
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param set-default MC_YAWRATE_MAX 20
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param set-default MC_AIRMODE 1
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param set-default MIS_DIST_1WP 100
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param set-default MIS_DIST_WPS 100000
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param set-default MIS_TAKEOFF_ALT 15
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param set-default MPC_XY_P 0.8
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param set-default MPC_XY_VEL_P_ACC 2
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param set-default MPC_XY_VEL_MAX 5
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param set-default MPC_ACC_HOR_MAX 2
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param set-default MPC_LAND_SPEED 1.2
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param set-default MPC_TILTMAX_LND 35
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param set-default MPC_Z_VEL_MAX_UP 1.5
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param set-default MPC_HOLD_MAX_XY 0.5
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param set-default MPC_HOLD_MAX_Z 0.5
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param set-default MPC_TKO_RAMP_T 0.8
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param set-default MPC_XY_CRUISE 5
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param set-default MPC_TILTMAX_AIR 25
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param set-default MPC_TILTMAX_LND 25
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param set-default MPC_YAWRAUTO_MAX 20
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param set-default NAV_LOITER_RAD 100
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param set-default PWM_MAIN_DIS5 1500
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param set-default PWM_MAIN_DIS6 1500
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param set-default PWM_MAIN_DIS7 900
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param set-default PWM_MAIN_DIS8 900
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param set-default SENS_BOARD_ROT 18
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# TELEM2 config
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param set-default MAV_1_CONFIG 102
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param set-default MAV_1_RATE 5000
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param set-default MAV_1_FORWARD 1
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param set-default SER_TEL2_BAUD 57600
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param set-default VT_TYPE 2
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param set-default VT_F_TRANS_THR 1
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param set-default VT_PITCH_MIN 8
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param set-default VT_FW_QC_P 55
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param set-default VT_FW_QC_R 55
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param set-default VT_TRANS_MIN_TM 15
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param set-default VT_B_TRANS_DUR 8
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param set-default VT_FWD_THRUST_SC 4
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param set-default VT_F_TRANS_DUR 1
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param set-default VT_B_REV_OUT 0.5
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param set-default VT_B_TRANS_THR 0.7
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param set-default VT_TRANS_TIMEOUT 22
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param set-default VT_F_TRANS_RAMP 4
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param set-default COM_RC_OVERRIDE 0
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param set-default CA_AIRFRAME 2
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param set-default CA_ROTOR_COUNT 5
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param set-default CA_ROTOR0_PX 0.1515
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param set-default CA_ROTOR0_PY 0.245
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param set-default CA_ROTOR0_KM 0.05
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param set-default CA_ROTOR1_PX -0.1515
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param set-default CA_ROTOR1_PY -0.1875
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param set-default CA_ROTOR1_KM 0.05
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param set-default CA_ROTOR2_PX 0.1515
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param set-default CA_ROTOR2_PY -0.245
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param set-default CA_ROTOR2_KM -0.05
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param set-default CA_ROTOR3_PX -0.1515
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param set-default CA_ROTOR3_PY 0.1875
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param set-default CA_ROTOR3_KM -0.05
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param set-default CA_ROTOR4_AX 1.0
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param set-default CA_ROTOR4_AZ 0.0
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param set-default CA_ROTOR4_PX 0.2
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param set-default CA_SV_CS_COUNT 3
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param set-default CA_SV_CS0_TYPE 1
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param set-default CA_SV_CS0_TRQ_R -0.5
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param set-default CA_SV_CS1_TYPE 2
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param set-default CA_SV_CS1_TRQ_R 0.5
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param set-default CA_SV_CS2_TYPE 3
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param set-default CA_SV_CS2_TRQ_P 1.0
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