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| author | Julian Oes <julian@oes.ch> | 2014-02-07 22:28:42 +0100 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2014-02-07 22:28:42 +0100 |
| commit | 70e1bfa4d69e967b309d177060804e7567f148b2 (patch) | |
| tree | 4af8a9f2fe15e11586669f0e538ba25e871cc718 /ROMFS/px4fmu_common/init.d/rc.mc_defaults | |
| parent | ce83f450b8ef96fef095ed28cf3ae8ed8b8c8373 (diff) | |
| download | px4-firmware-70e1bfa4d69e967b309d177060804e7567f148b2.tar.gz px4-firmware-70e1bfa4d69e967b309d177060804e7567f148b2.tar.bz2 px4-firmware-70e1bfa4d69e967b309d177060804e7567f148b2.zip | |
Startup scripts: use rc.mc_defaults for default MC parameters
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/rc.mc_defaults')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.mc_defaults | 45 |
1 files changed, 45 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults new file mode 100644 index 000000000..14b6fe12c --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults @@ -0,0 +1,45 @@ +#!nsh + +set VEHICLE_TYPE mc + +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 PWM_RATE 400 +set PWM_DISARMED 900 +set PWM_MIN 1075 +set PWM_MAX 2000
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