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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-04-12 16:13:34 +0200 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-04-12 16:13:34 +0200 |
commit | 0594343b9ccbb964808469041a1356414e281cbf (patch) | |
tree | 8f291cd2e68dda41c7d7b24fd704b5a68c74d818 /ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d | |
parent | f183ddad8c62b47bbed6116d07d4b1ac50871557 (diff) | |
download | px4-firmware-0594343b9ccbb964808469041a1356414e281cbf.tar.gz px4-firmware-0594343b9ccbb964808469041a1356414e281cbf.tar.bz2 px4-firmware-0594343b9ccbb964808469041a1356414e281cbf.zip |
QU4D startup script
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d')
-rw-r--r-- | ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d | 35 |
1 files changed, 35 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d new file mode 100644 index 000000000..5728a0920 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d @@ -0,0 +1,35 @@ +#!nsh +# +# Steadidrone QU4D +# +# Thomas Gubler <thomasgubler@gmail.com> +# Lorenz Meier <lm@inf.ethz.ch> +# + +sh /etc/init.d/rc.mc_defaults + +if [ $DO_AUTOCONFIG == yes ] +then + # TODO tune roll/pitch separately + param set MC_ROLL_P 7.0 + param set MC_ROLLRATE_P 0.13 + param set MC_ROLLRATE_I 0.0 + param set MC_ROLLRATE_D 0.004 + param set MC_PITCH_P 7.0 + param set MC_PITCHRATE_P 0.13 + param set MC_PITCHRATE_I 0.0 + param set MC_PITCHRATE_D 0.004 + param set MC_YAW_P 0.5 + param set MC_YAWRATE_P 0.2 + param set MC_YAWRATE_I 0.0 + param set MC_YAWRATE_D 0.0 + + param set BAT_N_CELLS 4 +fi + +set MIXER FMU_quad_w + +set PWM_MIN 1210 +set PWM_MAX 1900 + +set PWM_OUTPUTS 1234 |