2014-02-07 23:13:12 +01:00
|
|
|
#!nsh
|
|
|
|
|
|
|
|
|
|
set VEHICLE_TYPE fw
|
|
|
|
|
|
2014-11-17 17:10:47 +01:00
|
|
|
if [ $AUTOCNF == yes ]
|
2014-02-07 23:13:12 +01:00
|
|
|
then
|
2017-07-08 17:47:58 -04:00
|
|
|
#
|
|
|
|
|
# Default parameters for FW
|
|
|
|
|
#
|
|
|
|
|
|
|
|
|
|
param set EKF2_ARSP_THR 8.0
|
|
|
|
|
param set EKF2_FUSE_BETA 0
|
|
|
|
|
param set EKF2_MAG_ACCLIM 0
|
|
|
|
|
param set EKF2_MAG_YAWLIM 0
|
|
|
|
|
|
2016-03-30 12:24:35 -04:00
|
|
|
param set RTL_RETURN_ALT 100
|
|
|
|
|
param set RTL_DESCEND_ALT 100
|
|
|
|
|
param set RTL_LAND_DELAY -1
|
|
|
|
|
|
2016-12-23 09:06:49 +01:00
|
|
|
# FW uses L1 distance for acceptance radius
|
2016-07-04 15:41:16 -04:00
|
|
|
# set a smaller NAV_ACC_RAD for vertical acceptance distance
|
|
|
|
|
param set NAV_ACC_RAD 10
|
2016-12-23 09:06:49 +01:00
|
|
|
|
2016-07-04 14:17:27 -04:00
|
|
|
param set MIS_LTRMIN_ALT 25
|
|
|
|
|
param set MIS_TAKEOFF_ALT 25
|
2017-06-27 13:16:38 -04:00
|
|
|
|
|
|
|
|
param set PWM_RATE 50
|
2017-07-08 17:47:58 -04:00
|
|
|
|
|
|
|
|
# FW takeoff acceleration can easily exceed ublox GPS 2G default
|
|
|
|
|
param set GPS_UBX_DYNMODEL 8
|
2014-11-17 17:10:47 +01:00
|
|
|
fi
|
2015-07-09 15:51:44 +02:00
|
|
|
|
|
|
|
|
# This is the gimbal pass mixer
|
|
|
|
|
set MIXER_AUX pass
|
|
|
|
|
set PWM_AUX_RATE 50
|
|
|
|
|
set PWM_AUX_OUT 1234
|
