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autostart for multicopters: frame-specific default parameters reverted and cleaned up

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This commit is contained in:
Anton Babushkin
2014-02-11 23:24:49 +01:00
parent 6f506874eb
commit 16908f9aff
14 changed files with 92 additions and 95 deletions
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24
ROMFS/px4fmu_common/init.d/rc.mc_defaults
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@@ -4,22 +4,20 @@ set VEHICLE_TYPE mc
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for MC
#
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.12
param set MC_ROLLRATE_P 0.1
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.004
param set MC_ROLLRATE_D 0.003
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.12
param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 2.0
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005
param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.5
param set MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.1
param set MPC_XY_P 1.0
@@ -42,4 +40,4 @@ fi
set PWM_RATE 400
set PWM_DISARMED 900
set PWM_MIN 1075
set PWM_MAX 2000
set PWM_MAX 2000