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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.
51 lines
961 B
Plaintext
51 lines
961 B
Plaintext
#!nsh
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#
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# @name Steadidrone MAVRIK
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#
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# @type Octo Coax 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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# @output MAIN5 motor 5
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# @output MAIN6 motor 6
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# @output MAIN7 motor 7
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# @output MAIN8 motor 8
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#
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# @maintainer Simon Wilks <simon@uaventure.com>
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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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param set MC_PITCH_P 4.0
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param set MC_PITCHRATE_P 0.24
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param set MC_PITCHRATE_I 0.09
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param set MC_PITCHRATE_D 0.013
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param set MC_PITCHRATE_MAX 180.0
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param set MC_ROLL_P 4.0
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param set MC_ROLLRATE_P 0.16
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param set MC_ROLLRATE_I 0.07
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param set MC_ROLLRATE_D 0.009
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param set MC_ROLLRATE_MAX 180.0
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param set MC_YAW_P 3.0
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param set MC_YAWRATE_P 0.2
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param set MC_YAWRATE_I 0.1
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param set MC_YAWRATE_D 0.0
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param set MPC_HOLD_MAX_XY 0.25
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param set MPC_THR_MIN 0.15
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param set MPC_Z_VEL_MAX_DN 2.0
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param set BAT_N_CELLS 4
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fi
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set MIXER octo_cox_w
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set PWM_OUT 12345678
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