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92 lines
1.9 KiB
Plaintext
92 lines
1.9 KiB
Plaintext
#!nsh
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#
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# @name Modified Parrot Disco
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#
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# @url
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#
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# @type Flying Wing
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# @class Plane
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#
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# @output MAIN1 left aileron
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# @output MAIN2 right aileron
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# @output MAIN4 throttle
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#
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# @output AUX1 feed-through of RC AUX1 channel
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# @output AUX2 feed-through of RC AUX2 channel
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# @output AUX3 feed-through of RC AUX3 channel
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#
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# @maintainer Jan Liphardt <JTLiphardt@gmail.com>
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#
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sh /etc/init.d/rc.fw_defaults
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if [ $AUTOCNF = yes ]
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then
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####################################
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# Airspeed
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####################################
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param set FW_AIRSPD_MIN 15 # = 29 knots
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param set FW_AIRSPD_TRIM 20 # = 39 knots
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param set FW_AIRSPD_MAX 27 # = 52 knots
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####################################
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# The Main L1 Controller
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####################################
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param set FW_L1_PERIOD 20 #units of meters
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# Damping factor for L1 control (def = 0.75)
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param set FW_L1_DAMPING 0.75
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####################################
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# Pitch
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####################################
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# Basic limits (def = +/- 45 deg)
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param set FW_P_LIM_MAX 45
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param set FW_P_LIM_MIN -45
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# Time Constant (def = 0.4s)
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param set FW_P_TC 0.4
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# Pitch rate feed forward (def = 0.5 %/rad/sec)
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param set FW_PR_FF 0.35
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# Pitch rate integrator limit (def = 0.4)
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param set FW_PR_IMAX 0.4
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# Pitch rate proportional gain (def = 0.08 %/rad/sec)
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param set FW_PR_P 0.08
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####################################
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# Roll
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####################################
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# Basic limits (def = 50 deg)
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param set FW_R_LIM 40
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# Roll rate upper limit (def = 70 deg/s)
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param set FW_R_RMAX 50
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# Roll Time Constant (def = 0.4 s)
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param set FW_R_TC 0.4
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# Roll rate feed forward (def = 0.5 %/rad/sec)
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param set FW_RR_FF 0.5
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# Roll rate proportional Gain (def = 0.05 %/rad/sec)
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param set FW_RR_P 0.05
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# Roll Integrator Anti-Windup
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param set FW_RR_IMAX 0.2
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param set PWM_DISARMED 1000
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fi
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set MIXER fw_generic_wing.main.mix
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# Provide ESC a constant 1000 us pulse
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set PWM_OUT 4
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