diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil | 46 |
1 files changed, 46 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil new file mode 100644 index 000000000..8c0797d7c --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil @@ -0,0 +1,46 @@ +#!nsh +# +# HIL Quadcopter X +# +# Maintainers: Anton Babushkin <anton.babushkin@me.com> +# + +if [ $DO_AUTOCONFIG == yes ] +then + # + # Default parameters for this platform + # + param set MC_ATTRATE_P 0.12 + param set MC_ATTRATE_I 0.0 + param set MC_ATTRATE_D 0.004 + param set MC_ATT_P 7.0 + param set MC_ATT_I 0.0 + param set MC_ATT_D 0.0 + param set MC_YAWPOS_P 2.0 + param set MC_YAWPOS_I 0.0 + param set MC_YAWPOS_D 0.0 + param set MC_YAWRATE_P 0.3 + param set MC_YAWRATE_I 0.2 + param set MC_YAWRATE_D 0.005 + + param set MPC_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 +fi + +set HIL yes + +set VEHICLE_TYPE mc +set MIXER FMU_quad_x |