diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/10016_3dr_iris')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/10016_3dr_iris | 47 |
1 files changed, 13 insertions, 34 deletions
diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris index 67c24fab3..d691a6f2e 100644 --- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris +++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris @@ -2,52 +2,31 @@ # # 3DR Iris Quadcopter # -# Maintainers: Anton Babushkin <anton.babushkin@me.com> +# Anton Babushkin <anton.babushkin@me.com> # +sh /etc/init.d/rc.mc_defaults + if [ $DO_AUTOCONFIG == yes ] then - # - # Default parameters for this platform - # - param set MC_ATT_P 9.0 - param set MC_ATT_I 0.0 - param set MC_ATT_D 0.0 - param set MC_ATTRATE_P 0.13 - param set MC_ATTRATE_I 0.0 - param set MC_ATTRATE_D 0.004 - param set MC_YAWPOS_P 0.5 - param set MC_YAWPOS_I 0.15 - param set MC_YAWPOS_D 0.0 + # TODO tune roll/pitch separately + param set MC_ROLL_P 9.0 + param set MC_ROLLRATE_P 0.13 + param set MC_ROLLRATE_I 0.0 + param set MC_ROLLRATE_D 0.004 + param set MC_PITCH_P 9.0 + param set MC_PITCHRATE_P 0.13 + param set MC_PITCHRATE_I 0.0 + param set MC_PITCHRATE_D 0.004 + param set MC_YAW_P 0.5 param set MC_YAWRATE_P 0.2 param set MC_YAWRATE_I 0.0 param set MC_YAWRATE_D 0.0 - - 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 param set BAT_V_SCALING 0.00989 param set BAT_C_SCALING 0.0124 fi -set VEHICLE_TYPE mc set MIXER FMU_quad_w set PWM_OUTPUTS 1234 -set PWM_RATE 400 -set PWM_DISARMED 900 -set PWM_MIN 1000 -set PWM_MAX 2000 |