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updated solo config for master

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This commit is contained in:
Andreas Antener
2015-12-24 10:55:23 +01:00
committed by Lorenz Meier
parent 65299e7aaf
commit 52951801c9
1 changed files with 63 additions and 11 deletions
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74
ROMFS/px4fmu_common/init.d/4030_solo
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@@ -4,11 +4,7 @@
#
# @type Quadrotor x
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Lorenz Meier <lorenz@px4.io>
# @maintainer Andreas Antener <andreas@uaventure.com>
#
sh /etc/init.d/rc.mc_defaults
@@ -16,21 +12,77 @@ sh /etc/init.d/rc.mc_defaults
if [ $AUTOCNF == yes ]
then
# tuning
param set MC_PITCHRATE_P 0.13
param set MC_ROLLRATE_P 0.13
param set MC_PITCHRATE_P 0.11
param set MC_ROLLRATE_P 0.11
param set MPC_MANTHR_MIN 0.08
param set MPC_XY_VEL_MAX 3.0
param set MPC_Z_VEL_MAX 2.0
# takeoff. land and RTL settings
param set MIS_TAKEOFF_ALT 5.0
# INAV: higher GPS weights for better altitude control
param set INAV_W_Z_BARO 0.3
param set INAV_W_Z_GPS_P 0.8
param set INAV_W_Z_GPS_V 0.8
# takeoff, land and RTL settings
param set MIS_TAKEOFF_ALT 4.0
param set COM_DISARM_LAND 1
param set RTL_LAND_DELAY 1
param set RTL_DESCEND_ALT 5.0
param set RTL_RETURN_ALT 15.0
param set MPC_TILTMAX_LND 8.0
param set MPC_LAND_SPEED 0.4
param set MPC_HOLD_MAX_Z 1.5
param set MPC_TKO_JMPSPD 2.0
param set MPC_TKO_SPEED 1.5
# enable high bandwidth mavlink by default
param set SYS_COMPANION 921601
# setup
# main board rotation: pitch 180
param set SENS_BOARD_ROT 12
# solo external mag rotation
param set CAL_MAG0_ROT 30
# no safety switch
param set CBRK_IO_SAFETY 22027
# battery voltage not available yet
param set CBRK_SUPPLY_CHK 894281
# RC configuration
param set RC_MAP_MODE_SW 5
param set RC_MAP_PITCH 2
param set RC_MAP_ROLL 1
param set RC_MAP_THROTTLE 3
param set RC_MAP_YAW 4
param set RC1_DZ 10
param set RC1_MAX 1988
param set RC1_MIN 1003
param set RC1_REV 1
param set RC1_TRIM 1499
param set RC2_DZ 10
param set RC2_MAX 1987
param set RC2_MIN 1023
param set RC2_REV -1
param set RC2_TRIM 1499
param set RC3_DZ 10
param set RC3_MAX 1877
param set RC3_MIN 1023
param set RC3_REV 1
param set RC3_TRIM 1023
param set RC4_DZ 10
param set RC4_MAX 1998
param set RC4_MIN 1012
param set RC4_REV 1
param set RC4_TRIM 1500
param set RC5_DZ 10
param set RC5_MAX 2000
param set RC5_MIN 1000
param set RC5_REV 1
param set RC5_TRIM 1500
fi
set MIXER solo
set PWM_OUT 1234
set MIXER_AUX none
# enable high-speed link on telem 1
set MAVLINK_F "-d /dev/ttyS1 -b 921600 -r 80000 -m onboard -x"