2018-12-18 09:26:22 +01:00
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#!/bin/sh
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2016-02-18 17:30:25 -07:00
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#
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2016-02-23 13:15:46 +01:00
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# @name Generic 250 Racer
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2016-02-18 17:30:25 -07:00
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#
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# @type Quadrotor x
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2017-06-27 08:48:29 +02:00
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# @class Copter
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2016-02-18 17:30:25 -07:00
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#
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2017-06-27 08:48:29 +02:00
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# @maintainer Lorenz Meier <lorenz@px4.io>
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2016-02-18 17:30:25 -07:00
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#
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2020-03-16 21:25:38 +01:00
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# @board intel_aerofc-v1 exclude
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# @board bitcraze_crazyflie exclude
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#
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2016-02-18 17:30:25 -07:00
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2020-10-14 13:15:02 -07:00
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. ${R}etc/init.d/rc.mc_defaults
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2018-12-04 17:25:36 -05:00
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set MIXER quad_x
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set PWM_OUT 1234
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2016-02-18 17:30:25 -07:00
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2021-02-09 00:34:43 -05:00
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param set-default MC_ROLL_P 8
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param set-default MC_ROLLRATE_P 0.08
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param set-default MC_ROLLRATE_I 0.25
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param set-default MC_ROLLRATE_D 0.001
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param set-default MC_PITCH_P 8
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param set-default MC_PITCHRATE_P 0.08
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param set-default MC_PITCHRATE_I 0.25
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param set-default MC_PITCHRATE_D 0.001
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param set-default MC_YAW_P 4
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param set-default MC_YAWRATE_P 0.2
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param set-default MC_YAWRATE_I 0.1
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param set-default MC_YAWRATE_D 0
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param set-default MC_ROLLRATE_MAX 1600
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param set-default MC_PITCHRATE_MAX 1600
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param set-default MC_YAWRATE_MAX 1000
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param set-default MPC_MANTHR_MIN 0
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param set-default MPC_MAN_TILT_MAX 60
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# use thrust curve factor (instead of TPA)
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param set-default THR_MDL_FAC 0.3
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param set-default PWM_MAIN_MIN 1075
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# enable one-shot
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param set-default PWM_MAIN_RATE 0
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# enable high-rate logging profile (helps with tuning)
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param set-default SDLOG_PROFILE 19
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param set-default IMU_DGYRO_CUTOFF 50
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param set-default IMU_GYRO_CUTOFF 90
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param set-default CBRK_IO_SAFETY 22027
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