mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-26 02:43:33 +08:00
Beat Küng
6c3e79f361
A side-effect of the previous commit is that the integral is loaded up during a flip, which leads to visible bounce-backs after a flip. Reducing the I helps, but there's a trade-off and we'll need a better solution.
58 lines
1.2 KiB
Bash
58 lines
1.2 KiB
Bash
#!/bin/sh
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#
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# @name HolyBro QAV250
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#
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# @board px4_fmu-v2 exclude
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# @url https://docs.px4.io/en/frames_multicopter/holybro_qav250_pixhawk4_mini.html
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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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# @maintainer Beat Kueng <beat-kueng@gmx.net>
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#
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sh /etc/init.d/rc.mc_defaults
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set MIXER quad_x
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set PWM_OUT 1234
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if [ $AUTOCNF = yes ]
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then
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# The set does not include a battery, but most people will probably use 4S
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param set BAT_N_CELLS 4
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param set IMU_GYRO_CUTOFF 120
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param set MC_DTERM_CUTOFF 45
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param set MC_AIRMODE 1
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param set MC_PITCHRATE_D 0.0012
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param set MC_PITCHRATE_I 0.25
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param set MC_PITCHRATE_MAX 1200
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param set MC_PITCHRATE_P 0.082
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param set MC_PITCH_P 8
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param set MC_ROLLRATE_D 0.0012
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param set MC_ROLLRATE_I 0.2
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param set MC_ROLLRATE_MAX 1200
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param set MC_ROLLRATE_P 0.076
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param set MC_ROLL_P 8
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param set MC_YAWRATE_I 0.3
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param set MC_YAWRATE_MAX 600
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param set MC_YAWRATE_P 0.25
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param set MC_YAW_P 4
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param set MPC_MANTHR_MIN 0
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param set MPC_MAN_TILT_MAX 60
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param set MPC_THR_CURVE 1
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param set MPC_THR_HOVER 0.25
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param set MPC_THR_MIN 0.05
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param set MPC_Z_VEL_I 0.085
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param set PWM_MAX 1950
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param set PWM_MIN 1050
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param set PWM_RATE 0
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param set RC_FLT_CUTOFF 0
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param set THR_MDL_FAC 0.3
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fi
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