#!nsh # # Team Blacksheep Discovery Quadcopter # # Simon Wilks # if [ $DO_AUTOCONFIG == yes ] then # # Default parameters for this platform # param set MC_ROLL_P 5.0 param set MC_ROLLRATE_P 0.17 param set MC_ROLLRATE_I 0.0 param set MC_ROLLRATE_D 0.006 param set MC_PITCH_P 5.0 param set MC_PITCHRATE_P 0.17 param set MC_PITCHRATE_I 0.0 param set MC_PITCHRATE_D 0.006 param set MC_YAW_P 0.5 param set MC_YAWRATE_P 0.2 param set MC_YAWRATE_I 0.0 param set MC_YAWRATE_D 0.0 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_TILT_MAX 1.0 param set MPC_LAND_SPEED 1.0 param set MPC_LAND_TILT 0.3 fi set VEHICLE_TYPE mc set MIXER FMU_quad_w set PWM_OUTPUTS 1234 set PWM_RATE 400