mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-22 01:12:31 +00:00
35 lines
742 B
Plaintext
35 lines
742 B
Plaintext
#!nsh
|
|
|
|
set VEHICLE_TYPE vtol
|
|
|
|
if [ $AUTOCNF == yes ]
|
|
then
|
|
param set MC_ROLL_P 6.0
|
|
param set MC_PITCH_P 6.0
|
|
param set MC_YAW_P 4
|
|
|
|
param set PE_VELNE_NOISE 0.5
|
|
param set PE_VELD_NOISE 0.3
|
|
param set PE_POSNE_NOISE 0.5
|
|
param set PE_POSD_NOISE 1.25
|
|
param set PE_ABIAS_PNOISE 0.0001
|
|
|
|
#
|
|
# Default parameters for mission and position handling
|
|
#
|
|
param set NAV_ACC_RAD 3
|
|
param set MPC_TKO_SPEED 1.0
|
|
param set MPC_LAND_SPEED 0.7
|
|
param set MPC_Z_VEL_MAX 1.5
|
|
param set MPC_XY_VEL_MAX 4.0
|
|
param set MIS_YAW_TMT 10
|
|
param set MPC_ACC_HOR_MAX 2.0
|
|
fi
|
|
|
|
# set environment variables (!= parameters)
|
|
set PWM_RATE 400
|
|
# tell the mixer to use parameters for these instead
|
|
set PWM_DISARMED p:PWM_DISARMED
|
|
set PWM_MIN p:PWM_MIN
|
|
set PWM_MAX p:PWM_MAX
|