diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/4011_dji_f450')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/4011_dji_f450 | 43 |
1 files changed, 17 insertions, 26 deletions
diff --git a/ROMFS/px4fmu_common/init.d/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/4011_dji_f450 index 299771c1d..3465b59cf 100644 --- a/ROMFS/px4fmu_common/init.d/4011_dji_f450 +++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450 @@ -2,36 +2,27 @@ # # DJI Flame Wheel F450 Quadcopter # -# Maintainers: Lorenz Meier <lm@inf.ethz.ch> +# Lorenz Meier <lm@inf.ethz.ch> # +sh /etc/init.d/4001_quad_x + if [ $DO_AUTOCONFIG == yes ] then - # - # Default parameters for this platform - # - param set MC_ATT_P 7.0 - param set MC_ATT_I 0.0 - param set MC_ATT_D 0.0 - param set MC_ATTRATE_P 0.12 - param set MC_ATTRATE_I 0.0 - param set MC_ATTRATE_D 0.004 - 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 - - # TODO add default MPC parameters + # TODO REVIEW + param set MC_ROLL_P 7.0 + param set MC_ROLLRATE_P 0.1 + param set MC_ROLLRATE_I 0.0 + param set MC_ROLLRATE_D 0.003 + param set MC_PITCH_P 7.0 + param set MC_PITCHRATE_P 0.1 + param set MC_PITCHRATE_I 0.0 + param set MC_PITCHRATE_D 0.003 + param set MC_YAW_P 2.8 + param set MC_YAWRATE_P 0.2 + param set MC_YAWRATE_I 0.1 + param set MC_YAWRATE_D 0.0 fi -set VEHICLE_TYPE mc -set MIXER FMU_quad_x - -set PWM_OUTPUTS 1234 -set PWM_RATE 400 -# DJI ESC range -set PWM_DISARMED 900 -set PWM_MIN 1200 +set PWM_MIN 1175 set PWM_MAX 1900 |