diff options
-rw-r--r-- | ROMFS/px4fmu_common/init.d/10015_tbs_discovery | 18 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/10016_3dr_iris | 14 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/12001_octo_cox | 31 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/4010_dji_f330 | 14 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/4011_dji_f450 | 18 |
5 files changed, 55 insertions, 40 deletions
diff --git a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery index 49a50e130..3a8f14a9e 100644 --- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery +++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery @@ -22,6 +22,24 @@ then param set MC_YAWRATE_P 0.2 param set MC_YAWRATE_I 0.0 param set MC_YAWRATE_D 0.0 + + 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 diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris index 6c9cb6983..2ce0334b4 100644 --- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris +++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris @@ -23,19 +23,23 @@ then param set MC_YAWRATE_I 0.0 param set MC_YAWRATE_D 0.0 - param set MPC_TILT_MAX 1.0 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_D 0.01 + 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_VEL_P 0.1 + param set MPC_XY_FF 0.5 param set MPC_Z_P 1.0 - param set MPC_Z_VEL_D 0.0 + 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_VEL_P 0.1 + 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 param set BAT_V_SCALING 0.00989 param set BAT_C_SCALING 0.0124 diff --git a/ROMFS/px4fmu_common/init.d/12001_octo_cox b/ROMFS/px4fmu_common/init.d/12001_octo_cox index 2bea6d489..77813268a 100644 --- a/ROMFS/px4fmu_common/init.d/12001_octo_cox +++ b/ROMFS/px4fmu_common/init.d/12001_octo_cox @@ -2,36 +2,9 @@ # # Generic 10” Octo coaxial geometry # -# Maintainers: Lorenz Meier <lm@inf.ethz.ch> +# 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 - - # TODO add default MPC parameters -fi +sh /etc/init.d/8001_octo_x -set VEHICLE_TYPE mc set MIXER FMU_octo_cox - -set PWM_OUTPUTS 1234 -set PWM_RATE 400 -# DJI ESC range -set PWM_DISARMED 900 -set PWM_MIN 1200 -set PWM_MAX 1900 diff --git a/ROMFS/px4fmu_common/init.d/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/4010_dji_f330 index 6acdc9f81..c78da2d6c 100644 --- a/ROMFS/px4fmu_common/init.d/4010_dji_f330 +++ b/ROMFS/px4fmu_common/init.d/4010_dji_f330 @@ -23,19 +23,23 @@ then param set MC_YAWRATE_I 0.05 param set MC_YAWRATE_D 0.0 - param set MPC_TILT_MAX 1.0 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_D 0.01 + 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_VEL_P 0.1 + param set MPC_XY_FF 0.5 param set MPC_Z_P 1.0 - param set MPC_Z_VEL_D 0.0 + 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_VEL_P 0.1 + 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 diff --git a/ROMFS/px4fmu_common/init.d/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/4011_dji_f450 index cca635e66..8027b9d42 100644 --- a/ROMFS/px4fmu_common/init.d/4011_dji_f450 +++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450 @@ -23,7 +23,23 @@ then param set MC_YAWRATE_I 0.2 param set MC_YAWRATE_D 0.005 - # 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 |