mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-11 05:01:35 +08:00
Silvan Fuhrer
17a020c6a5
Until now only suppoted on yaw axis. Not to be supported also on Roll and Pitch. - VT_FW_DIFTHR_EN: make bitmask for all three axes independently. First bit is Yaw, sucht that existing meaning of VT_FW_DIFTHR_EN doesn't change. - VT_FW_DIFTHR_SC: rename to VT_FW_DIFTHR_S_Y and add same params for roll (_R) and pitch (_P). Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
78 lines
1.9 KiB
Bash
78 lines
1.9 KiB
Bash
#!/bin/sh
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#
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# @name E-flite Convergence
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#
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# @type VTOL Tiltrotor
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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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# @output MAIN1 Motor right
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# @output MAIN2 Motor left
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# @output MAIN3 Motor back
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# @output MAIN4 empty
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# @output MAIN5 Tilt servo right
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# @output MAIN6 Tilt servo left
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# @output MAIN7 Elevon right
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# @output MAIN8 Elevon left
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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 21
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param set-default CBRK_AIRSPD_CHK 162128
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param set-default FW_ARSP_MODE 1
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param set-default FW_L1_PERIOD 17
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param set-default FW_MAN_R_MAX 50
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param set-default FW_ACRO_X_MAX 270
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param set-default FW_ACRO_Y_MAX 270
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param set-default FW_ACRO_Z_MAX 180
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param set-default FW_PSP_OFF 5
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param set-default FW_P_LIM_MAX 30
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param set-default FW_P_LIM_MIN -30
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param set-default FW_RR_FF 0.33
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param set-default FW_RR_P 0.11
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param set-default MC_PITCHRATE_P 0.15
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param set-default MC_PITCH_P 6
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param set-default MC_ROLLRATE_P 0.15
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param set-default MC_ROLL_P 6
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param set-default MC_YAWRATE_MAX 120
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param set-default MC_YAWRATE_P 0.27
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param set-default MC_YAW_P 2.5
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param set-default MC_YAWRATE_P 0.3
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param set-default MPC_LAND_SPEED 1.2
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param set-default MPC_TKO_SPEED 2.5
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param set-default SENS_BOARD_ROT 8
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param set-default VT_B_TRANS_DUR 1
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param set-default VT_F_TRANS_DUR 1.2
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param set-default VT_F_TR_OL_TM 4
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param set-default VT_FW_DIFTHR_EN 1
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param set-default VT_FW_DIFTHR_S_Y 0.17
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param set-default VT_FW_MOT_OFFID 3
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param set-default VT_IDLE_PWM_MC 1200
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param set-default VT_MOT_ID 123
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param set-default VT_TILT_TRANS 0.45
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param set-default VT_TRANS_MIN_TM 1.2
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param set-default VT_TRANS_P2_DUR 1.3
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param set-default VT_MC_CS_LOCK 0
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param set-default VT_TYPE 1
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set MIXER vtol_convergence
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if ! ver hwcmp MATEK_H743
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then
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set PWM_OUT 1234
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else
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set PWM_OUT 3456
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fi
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