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https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
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0e65753568
The geometry was previously quad_deadcat in which front motors are closer to CG and thus more loaded in hover. quad_wide is the same geometry as quad_deadcat except the CG is centered so all motors are loaded equally. Flight logs on IRIS with deadcat mixer showed that - all motors are equally loaded during hover (actuator_outputs 0 to 3 have similar values) - a negative pitch offset is building up soon after takeoff (visible in actuator_controls)
46 lines
955 B
Plaintext
46 lines
955 B
Plaintext
#!nsh
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#
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# @name 3DR Iris Quadrotor
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#
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# @type Quadrotor Wide
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# @class Copter
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#
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# @output MAIN1 motor 1
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# @output MAIN2 motor 2
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# @output MAIN3 motor 3
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# @output MAIN4 motor 4
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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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# @output AUX4 feed-through of RC FLAPS channel
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#
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# @maintainer Lorenz Meier <lorenz@px4.io>
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#
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sh /etc/init.d/rc.mc_defaults
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if [ $AUTOCNF == yes ]
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then
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# TODO tune roll/pitch separately
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param set MC_ROLL_P 7.0
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param set MC_ROLLRATE_P 0.15
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param set MC_ROLLRATE_I 0.05
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param set MC_ROLLRATE_D 0.004
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param set MC_PITCH_P 7.0
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param set MC_PITCHRATE_P 0.15
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param set MC_PITCHRATE_I 0.05
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param set MC_PITCHRATE_D 0.004
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param set MC_YAW_P 2.5
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param set MC_YAWRATE_P 0.25
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param set MC_YAWRATE_I 0.25
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param set MC_YAWRATE_D 0.0
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param set BAT_V_DIV 12.27559
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param set BAT_A_PER_V 15.39103
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fi
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set MIXER quad_w
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set PWM_OUT 1234
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