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| author | Anton Matosov <anton.matosov@gmail.com> | 2015-01-06 00:57:54 +0200 |
|---|---|---|
| committer | Anton Matosov <anton.matosov@gmail.com> | 2015-01-08 13:58:46 +0200 |
| commit | 7d528330d570fa4900b1a24c2a1f851c3a7dcba0 (patch) | |
| tree | d2b68ae8cce39e5c47227c7d26b6f8dd92c018c7 /ROMFS/px4fmu_common/init.d/10019_sk450_deadcat | |
| parent | aa2a00b56a0be0e20abfa54c311575f9e055f212 (diff) | |
| download | px4-firmware-7d528330d570fa4900b1a24c2a1f851c3a7dcba0.tar.gz px4-firmware-7d528330d570fa4900b1a24c2a1f851c3a7dcba0.tar.bz2 px4-firmware-7d528330d570fa4900b1a24c2a1f851c3a7dcba0.zip | |
Implemented SK450 DeadCat frame support
Implemented the way to specify motor output scale which is required for SK450 DeadCat as it has asymetrical arms (front arms are longer than back ones)
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/10019_sk450_deadcat')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/10019_sk450_deadcat | 32 |
1 files changed, 32 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat b/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat new file mode 100644 index 000000000..96463d5ef --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat @@ -0,0 +1,32 @@ +#!nsh +# +# HobbyKing SK450 DeadCat modification +# +# Anton Matosov <anton.matosov@gmail.com> +# + +sh /etc/init.d/rc.mc_defaults + +if [ $AUTOCNF == yes ] +then + param set MC_ROLL_P 6.0 + param set MC_ROLLRATE_P 0.04 + param set MC_ROLLRATE_I 0.1 + param set MC_ROLLRATE_D 0.0015 + + param set MC_PITCH_P 6.0 + param set MC_PITCHRATE_P 0.08 + param set MC_PITCHRATE_I 0.2 + param set MC_PITCHRATE_D 0.0015 + + param set MC_YAW_P 2.8 + param set MC_YAWRATE_P 0.1 + param set MC_YAWRATE_I 0.07 + param set MC_YAWRATE_D 0.0 +fi + +set VEHICLE_TYPE mc +set MIXER FMU_quad_deadcat + +set PWM_OUTPUTS 1234 +set PWM_MIN 1075 |