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https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-22 01:12:31 +00:00
cc0bc05156
It scales the yawspeed setpoint arbitrarily by default with 0.5. This makes no sense because when you give a setpoint of 1rad/s then you expect the setpoint to get executed. If you want manual yawspeed response to be less agressive on the stick use the scaling parameter for the stick MPC_MAN_Y_MAX.
56 lines
1.2 KiB
Plaintext
56 lines
1.2 KiB
Plaintext
#!nsh
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#
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# @name Blade 130X
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#
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# @type Helicopter
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# @class Copter
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#
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# @maintainer Bart Slinger <bartslinger@gmail.com>
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#
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# @output MAIN1 main motor
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# @output MAIN2 front swashplate servo
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# @output MAIN3 right swashplate servo
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# @output MAIN4 left swashplate servo
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# @output MAIN5 tail-rotor servo
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#
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sh /etc/init.d/rc.mc_defaults
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# Configure as helicopter (number 4 defined in commander_helper.cpp)
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set MAV_TYPE 4
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set MIXER blade130
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#set PWM_OUT 1234
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if [ $AUTOCNF == yes ]
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then
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param set MC_ROLL_P 5.0
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param set MC_ROLLRATE_P 0.0
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param set MC_ROLLRATE_I 0.0
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param set MC_ROLLRATE_D 0.0
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param set MC_ROLLRATE_FF 0.15
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param set MC_PITCH_P 6.5
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param set MC_PITCHRATE_P 0.0
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param set MC_PITCHRATE_I 0.0
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param set MC_PITCHRATE_D 0.0
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param set MC_PITCHRATE_FF 0.15
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param set MC_YAW_P 3.0
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param set MC_YAWRATE_P 0.1
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param set MC_YAWRATE_I 0.0
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param set MC_YAWRATE_D 0.0
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param set MC_ROLLRATE_MAX 720.0
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param set MC_PITCHRATE_MAX 720.0
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param set MC_YAWRATE_MAX 400.0
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param set MC_ACRO_R_MAX 360.0
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param set MC_ACRO_P_MAX 360.0
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param set PWM_MIN 1075
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param set MPC_THR_MIN 0.06
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param set MPC_MANTHR_MIN 0.06
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param set ATT_BIAS_MAX 0.0
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param set CBRK_IO_SAFETY 22027
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fi |