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Add Steadidrone MAVRIK mixer and gains.

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This commit is contained in:
Simon Wilks
2016-01-03 22:05:56 +01:00
committed by Lorenz Meier
parent 86c8308e98
commit 9a8050cc11
5 changed files with 60 additions and 2 deletions
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41
ROMFS/px4fmu_common/init.d/12002_steadidrone_mavrik Normal file
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@@ -0,0 +1,41 @@
#!nsh
#
# @name Steadidrone MAVRIK
#
# @type Octo Coax Wide
#
# @maintainer Simon Wilks <simon@uaventure.com>
#
sh /etc/init.d/rc.mc_defaults
if [ $AUTOCNF == yes ]
then
param set MC_PITCH_P 4.0
param set MC_PITCHRATE_P 0.24
param set MC_PITCHRATE_I 0.09
param set MC_PITCHRATE_D 0.013
param set MC_PITCHRATE_MAX 180.0
param set MC_ROLL_P 4.0
param set MC_ROLLRATE_P 0.16
param set MC_ROLLRATE_I 0.07
param set MC_ROLLRATE_D 0.009
param set MC_ROLLRATE_MAX 180.0
param set MC_YAW_P 3.0
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.5
param set MPC_HOLD_MAX_XY 0.25
param set MPC_THR_MIN 0.15
param set MPC_Z_VEL_MAX 2.0
param set BAT_N_CELLS 4
fi
set MIXER octo_cox_w
set PWM_OUT 12345678

2
ROMFS/px4fmu_common/init.d/rcS
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@@ -692,7 +692,7 @@ then
then
set MAV_TYPE 14
fi
if [ $MIXER == octo_cox ]
if [ $MIXER == octo_cox -o $MIXER == octo_cox_w ]
then
set MAV_TYPE 14
fi

3
ROMFS/px4fmu_common/mixers/octo_cox_w.main.mix Normal file
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@@ -0,0 +1,3 @@
# Octo coaxial with wide arms
R: 8cw 10000 10000 10000 0