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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-31 11:36:25 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-31 11:36:25 +0100 |
| commit | 103bece7266bbcbcd3f31aaf165ea6f902dec9f4 (patch) | |
| tree | 704ce27ab07d08fbb7627607a8ab0dc5a73bae5a /ROMFS/px4fmu_common/init.d/4001_quad_x | |
| parent | 282e0bb6703e6f013eee690bda97e09045837fd3 (diff) | |
| download | px4-firmware-103bece7266bbcbcd3f31aaf165ea6f902dec9f4.tar.gz px4-firmware-103bece7266bbcbcd3f31aaf165ea6f902dec9f4.tar.bz2 px4-firmware-103bece7266bbcbcd3f31aaf165ea6f902dec9f4.zip | |
rc scripts cleanup, avoid duplicating parameters, use inheritance instead
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/4001_quad_x')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/4001_quad_x | 52 |
1 files changed, 52 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/4001_quad_x b/ROMFS/px4fmu_common/init.d/4001_quad_x new file mode 100644 index 000000000..ca4694d81 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/4001_quad_x @@ -0,0 +1,52 @@ +#!nsh +# +# Generic 10” Quad X geometry +# +# Maintainers: Lorenz Meier <lm@inf.ethz.ch>, Anton Babushkin <anton.babushkin@me.com> +# + +if [ $DO_AUTOCONFIG == yes ] +then + # + # Default parameters for this platform + # + param set MC_ROLL_P 7.0 + param set MC_ROLLRATE_P 0.12 + 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 0.12 + param set MC_PITCHRATE_I 0.0 + param set MC_PITCHRATE_D 0.004 + param set MC_YAW_P 2.0 + param set MC_YAWRATE_P 0.3 + param set MC_YAWRATE_I 0.2 + param set MC_YAWRATE_D 0.005 + + param set MPC_THR_MAX 1.0 + param set MPC_THR_MIN 0.1 + param set MPC_XY_P 1.0 + param set MPC_XY_VEL_P 0.1 + param set MPC_XY_VEL_I 0.02 + param set MPC_XY_VEL_D 0.01 + param set MPC_XY_VEL_MAX 5 + param set MPC_XY_FF 0.5 + param set MPC_Z_P 1.0 + param set MPC_Z_VEL_P 0.1 + param set MPC_Z_VEL_I 0.02 + param set MPC_Z_VEL_D 0.0 + param set MPC_Z_VEL_MAX 3 + param set MPC_Z_FF 0.5 + param set MPC_TILT_MAX 1.0 + param set MPC_LAND_SPEED 1.0 + param set MPC_LAND_TILT 0.3 +fi + +set VEHICLE_TYPE mc +set MIXER FMU_quad_x + +set PWM_OUTPUTS 1234 +set PWM_RATE 400 +set PWM_DISARMED 900 +set PWM_MIN 1000 +set PWM_MAX 2000 |