yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-21 01:12:11 +00:00
Code Issues Packages Projects Releases Wiki Activity

UVify Core board support and airframes (Draco, Draco-R, IFO) (#12337)

Browse Source 
* also includes minor changes to make it easy to keep in sync with px4_fmu-v4
This commit is contained in:
Hyon Lim
2019-08-24 06:02:25 +09:00
committed by Daniel Agar
parent ec5d36d9c7
commit 0262a699c1
38 changed files with 3034 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files

119
ROMFS/px4fmu_common/init.d/airframes/4072_draco Normal file
View File

@@ -0,0 +1,119 @@
#!/bin/sh
#
# @name UVify Draco
#
# @type Quadrotor x
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
#
# @board px4_fmu-v2 exclude
# @board px4_fmu-v3 exclude
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board intel_aerofc-v1 exclude
#
# @maintainer Hyon Lim <lim@uvify.com>
#
set VEHICLE_TYPE mc
set MIXER quad_x
set PWM_OUT 1234
if [ $AUTOCNF = yes ]
then
# Attitude & rate gains
param set MC_ROLL_P 7.00000
param set MC_ROLLRATE_P 0.15000
param set MC_ROLLRATE_I 0.90000
param set MC_ROLLRATE_D 0.00130
param set MC_PITCH_P 7.00000
param set MC_PITCHRATE_P 0.15000
param set MC_PITCHRATE_I 1.10000
param set MC_PITCHRATE_D 0.00160
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.15
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.5
param set MC_ROLL_TC 0.19
param set MC_PITCH_TC 0.16
# Manual mode settings: Unleash Draco R's power :)
param set MPC_MAN_TILT_MAX 70.00000
param set MC_PITCHRATE_MAX 1600.00000
param set MC_ROLLRATE_MAX 1600.00000
param set MC_YAWRATE_MAX 700.00000
param set MPC_MANTHR_MAX 0.90000
param set MPC_MANTHR_MIN 0.08000
param set MPC_MAN_TILT_MAX 35.0000
param set MPC_TILTMAX_AIR 20.0000
# Disable RC filtering
param set RC_FLT_CUTOFF 0.00000
# Filter settings
param set MC_DTERM_CUTOFF 90.00000
param set IMU_GYRO_CUTOFF 100.00000
# Thrust curve (avoids the need for TPA)
param set THR_MDL_FAC 0.25
# System
param set PWM_MAX 1950
param set PWM_MIN 1100
param set PWM_RATE 0
param set SYS_FMU_TASK 1
param set SENS_BOARD_ROT 2
# Position control
param set MPC_Z_P 1.00000
param set MPC_Z_VEL_P 0.20000
param set MPC_Z_VEL_I 0.02000
param set MPC_Z_VEL_D 0.00000
param set MPC_THR_MIN 0.06000
param set MPC_THR_MAX 0.40000
param set MPC_THR_HOVER 0.3000
param set MIS_TAKEOFF_ALT 1.1000
param set MPC_XY_P 1.7000
param set MPC_XY_VEL_P 0.1300
param set MPC_XY_VEL_I 0.0600
param set MPC_XY_VEL_D 0.0100
param set MPC_TKO_RAMP_T 1.0000
param set MPC_TKO_SPEED 1.1000
param set MPC_VEL_MANUAL 3.0000
param set BAT_SOURCE 0
param set CBRK_IO_SAFETY 22027
param set COM_ARM_EKF_AB 0.00500
param set COM_DISARM_LAND 3
# Filter settings
param set IMU_GYRO_CUTOFF 90.00000
param set MC_DTERM_CUTOFF 70.00000
# Don't try to be intelligent on RC loss: just cut the motors
param set NAV_RCL_ACT 6
# enable to use high-rate logging for better rate tracking analysis
# param set SDLOG_PROFILE 19
# TELEM1 ttyS1
param set MAV_0_CONFIG 101
param set MAV_0_MODE 2 # onboard
param set MAV_0_RATE 20000
param set SER_TEL1_BAUD 921600
# TELEM2 ttyS2
param set MAV_1_CONFIG 0
fi