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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-10 22:04:56 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-10 22:04:56 +0100 |
| commit | 6e609845569722367b5d38bc508edb69dfa8d47f (patch) | |
| tree | e19ef2cd34a1ef0f82172dca2a1bb8fe55129ec1 /ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil | |
| parent | f5501a050873a35b2b8bd751e192d6db859f42b6 (diff) | |
| download | px4-firmware-6e609845569722367b5d38bc508edb69dfa8d47f.tar.gz px4-firmware-6e609845569722367b5d38bc508edb69dfa8d47f.tar.bz2 px4-firmware-6e609845569722367b5d38bc508edb69dfa8d47f.zip | |
rcS and autostart scripts cleanup, WIP
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil | 46 |
1 files changed, 46 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil new file mode 100644 index 000000000..c5b92d7d4 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil @@ -0,0 +1,46 @@ +#!nsh +# +# HIL Quadcopter X +# +# Maintainers: Anton Babushkin <anton.babushkin@me.com> +# + +if [ $DO_AUTOCONFIG == yes ] +then + # + # Default parameters for this platform + # + param set MC_ATTRATE_P 0.12 + param set MC_ATTRATE_I 0.0 + param set MC_ATTRATE_D 0.004 + param set MC_ATT_P 7.0 + param set MC_ATT_I 0.0 + param set MC_ATT_D 0.0 + param set MC_YAWPOS_P 2.0 + param set MC_YAWPOS_I 0.0 + param set MC_YAWPOS_D 0.0 + param set MC_YAWRATE_P 0.3 + param set MC_YAWRATE_I 0.2 + param set MC_YAWRATE_D 0.005 + + param set MPC_TILT_MAX 0.5 + param set MPC_THR_MAX 0.8 + param set MPC_THR_MIN 0.2 + param set MPC_XY_D 0 + param set MPC_XY_P 0.5 + param set MPC_XY_VEL_D 0 + param set MPC_XY_VEL_I 0 + param set MPC_XY_VEL_MAX 3 + param set MPC_XY_VEL_P 0.2 + param set MPC_Z_D 0 + param set MPC_Z_P 1 + param set MPC_Z_VEL_D 0 + param set MPC_Z_VEL_I 0.1 + param set MPC_Z_VEL_MAX 2 + param set MPC_Z_VEL_P 0.20 +fi + +set HIL yes + +set VEHICLE_TYPE mc +set FRAME_GEOMETRY quad_x |