mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-24 07:33:34 +08:00
92 lines
2.0 KiB
Bash
92 lines
2.0 KiB
Bash
#!/bin/sh
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#
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# @name Sparkle Tech Ranger 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 Andreas Antener <andreas@uaventure.com>
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#
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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 FW_AIRSPD_MAX 22
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param set FW_AIRSPD_MIN 14
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param set FW_AIRSPD_TRIM 16
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param set FW_L1_PERIOD 25
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param set FW_PR_P 0.060
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param set FW_P_RMAX_NEG 40
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param set FW_P_RMAX_POS 40
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param set FW_RR_FF 0.4
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param set FW_RR_P 0.04
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param set FW_R_RMAX 40
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param set MC_PITCHRATE_D 0.004
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param set MC_PITCHRATE_I 0
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param set MC_PITCHRATE_MAX 60
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param set MC_PITCHRATE_P 0.21
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param set MC_PITCH_P 4
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param set MC_ROLLRATE_D 0.004
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param set MC_ROLLRATE_I 0.002
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param set MC_ROLLRATE_MAX 60
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param set MC_ROLLRATE_P 0.24
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param set MC_ROLL_P 4
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param set MC_YAWRATE_I 0.02
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param set MC_YAWRATE_MAX 40
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param set MC_YAWRATE_P 0.18
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param set MIS_TAKEOFF_ALT 2.5
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param set MIS_YAW_TMT 20
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param set MPC_ACC_HOR_MAX 1
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param set MPC_HOLD_MAX_XY 0.5
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param set MPC_HOLD_MAX_Z 0.5
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param set MPC_LAND_SPEED 1
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param set MPC_MANTHR_MIN 0.05
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param set MPC_MAN_Y_MAX 120
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param set MPC_THR_MIN 0.07
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param set MPC_TILTMAX_AIR 35
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param set MPC_TILTMAX_LND 20
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param set MPC_TKO_SPEED 1
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param set MPC_XY_P 0.3
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param set MPC_XY_VEL_MAX 3
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param set MPC_XY_VEL_P_ACC 1
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param set MPC_Z_P 0.5
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param set MPC_Z_VEL_P_ACC 2
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param set MPC_YAWRAUTO_MAX 40
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param set NAV_ACC_RAD 3
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param set PWM_AUX_REV1 1
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param set PWM_AUX_REV2 1
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param set PWM_AUX_REV3 1
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param set PWM_AUX_REV4 1
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param set PWM_AUX_DIS5 950
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param set PWM_RATE 400
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param set VT_ARSP_TRANS 15
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param set VT_B_TRANS_DUR 4
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param set VT_F_TRANS_THR 0.6
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param set VT_IDLE_PWM_MC 1180
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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_TRANS_MIN_TM 5
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param set VT_TRANS_TIMEOUT 30
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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_AAERT
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set PWM_OUT 1234
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