diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/rc.mc_defaults')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.mc_defaults | 50 |
1 files changed, 50 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults new file mode 100644 index 000000000..0df320f49 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults @@ -0,0 +1,50 @@ +#!nsh + +set VEHICLE_TYPE mc + +if [ $DO_AUTOCONFIG == yes ] +then + 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 + param set MC_YAW_FF 0.5 + + 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_TILTMAX_AIR 45.0 + param set MPC_TILTMAX_LND 15.0 + param set MPC_LAND_SPEED 1.0 + + param set PE_VELNE_NOISE 0.5 + param set PE_VELD_NOISE 0.7 + param set PE_POSNE_NOISE 0.5 + param set PE_POSD_NOISE 1.0 + + param set NAV_ACCEPT_RAD 2.0 +fi + +set PWM_RATE 400 +set PWM_DISARMED 900 +set PWM_MIN 1075 +set PWM_MAX 2000 |