diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil | 23 |
1 files changed, 3 insertions, 20 deletions
diff --git a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil index 124bf63ab..c753ded23 100644 --- a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil +++ b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil @@ -5,14 +5,13 @@ # Thomas Gubler <thomasgubler@gmail.com> # -echo "HIL Malolo 1 starting.." +sh /etc/init.d/rc.fw_defaults if [ $DO_AUTOCONFIG == yes ] then - # Set all params here, then disable autoconfig - param set FW_AIRSPD_MIN 12 param set FW_AIRSPD_TRIM 25 + param set FW_AIRSPD_MAX 40 param set FW_ATT_TC 0.3 param set FW_L1_DAMPING 0.74 param set FW_L1_PERIOD 15 @@ -20,10 +19,6 @@ then param set FW_PR_I 0.05 param set FW_PR_IMAX 0.2 param set FW_PR_P 0.1 - param set FW_P_LIM_MAX 45 - param set FW_P_LIM_MIN -45 - param set FW_P_RMAX_NEG 0 - param set FW_P_RMAX_POS 0 param set FW_P_ROLLFF 0 param set FW_RR_FF 0.6 param set FW_RR_I 0.02 @@ -31,9 +26,6 @@ then param set FW_RR_P 0.1 param set FW_R_LIM 45 param set FW_R_RMAX 0 - param set FW_THR_CRUISE 0.6 - param set FW_THR_MAX 1 - param set FW_THR_MIN 0 param set FW_T_CLMB_MAX 5 param set FW_T_HRATE_P 0.02 param set FW_T_PTCH_DAMP 0 @@ -43,22 +35,13 @@ then param set FW_T_SRATE_P 0.01 param set FW_T_TIME_CONST 3 param set FW_T_VERT_ACC 7 - param set FW_YCO_VMIN 1000 param set FW_YR_FF 0.0 param set FW_YR_I 0 param set FW_YR_IMAX 0.2 - param set FW_YR_P 0.0 - param set FW_Y_RMAX 0 - param set NAV_LAND_ALT 90 - param set NAV_RTL_ALT 100 - param set NAV_RTL_LAND_T -1 - - param set SYS_AUTOCONFIG 0 - param save + param set FW_YR_P 0.0 fi set HIL yes -set VEHICLE_TYPE fw # Set the AERT mixer for HIL (even if the malolo is a flying wing) set MIXER FMU_AERT |