diff options
Diffstat (limited to 'ROMFS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/10019_sk450_deadcat | 32 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.autostart | 5 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_quad_deadcat.mix | 25 |
3 files changed, 62 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat b/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat new file mode 100644 index 000000000..96463d5ef --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat @@ -0,0 +1,32 @@ +#!nsh +# +# HobbyKing SK450 DeadCat modification +# +# Anton Matosov <anton.matosov@gmail.com> +# + +sh /etc/init.d/rc.mc_defaults + +if [ $AUTOCNF == yes ] +then + param set MC_ROLL_P 6.0 + param set MC_ROLLRATE_P 0.04 + param set MC_ROLLRATE_I 0.1 + param set MC_ROLLRATE_D 0.0015 + + param set MC_PITCH_P 6.0 + param set MC_PITCHRATE_P 0.08 + param set MC_PITCHRATE_I 0.2 + param set MC_PITCHRATE_D 0.0015 + + param set MC_YAW_P 2.8 + param set MC_YAWRATE_P 0.1 + param set MC_YAWRATE_I 0.07 + param set MC_YAWRATE_D 0.0 +fi + +set VEHICLE_TYPE mc +set MIXER FMU_quad_deadcat + +set PWM_OUTPUTS 1234 +set PWM_MIN 1075 diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart index 20f2be0d9..b83687fbd 100644 --- a/ROMFS/px4fmu_common/init.d/rc.autostart +++ b/ROMFS/px4fmu_common/init.d/rc.autostart @@ -226,6 +226,11 @@ then sh /etc/init.d/10018_tbs_endurance fi +if param compare SYS_AUTOSTART 10019 +then + sh /etc/init.d/10019_sk450_deadcat +fi + # # Hexa Coaxial # diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_deadcat.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_deadcat.mix new file mode 100644 index 000000000..a8c5b716d --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_quad_deadcat.mix @@ -0,0 +1,25 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a quadrotor in SK450 DeadCat configuration. All controls are mixed 100%. + +R: 4dc 10000 10000 10000 0 + +Gimbal / payload mixer for last four channels +----------------------------------------------------- + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 4 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 5 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 6 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 7 10000 10000 0 -10000 10000 |