diff options
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/4012_hk_x550 | 21 |
1 files changed, 20 insertions, 1 deletions
diff --git a/ROMFS/px4fmu_common/init.d/4012_hk_x550 b/ROMFS/px4fmu_common/init.d/4012_hk_x550 index 4fea828a7..98e1f80aa 100644 --- a/ROMFS/px4fmu_common/init.d/4012_hk_x550 +++ b/ROMFS/px4fmu_common/init.d/4012_hk_x550 @@ -23,7 +23,23 @@ then param set MC_YAWRATE_I 0 param set MC_YAWRATE_D 0 - # TODO add default MPC parameters + 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 @@ -31,3 +47,6 @@ 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 |