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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.
46 lines
925 B
Plaintext
46 lines
925 B
Plaintext
#!nsh
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#
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# @name Caipiroshka Duo Tailsitter
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#
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# @type VTOL Duo Tailsitter
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# @class VTOL
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#
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# @output MAIN1 motor right
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# @output MAIN2 motor left
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# @output MAIN5 elevon right
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# @output MAIN6 elevon left
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#
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# @maintainer Roman Bapst <roman@px4.io>
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#
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sh /etc/init.d/rc.vtol_defaults
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if [ $AUTOCNF == yes ]
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then
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param set MC_ROLL_P 6.0
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param set MC_ROLLRATE_P 0.12
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param set MC_ROLLRATE_I 0.002
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param set MC_ROLLRATE_D 0.003
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param set MC_ROLLRATE_FF 0.0
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param set MC_PITCH_P 4.5
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param set MC_PITCHRATE_P 0.3
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param set MC_PITCHRATE_I 0.002
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param set MC_PITCHRATE_D 0.003
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param set MC_PITCHRATE_FF 0.0
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param set MC_YAW_P 3.8
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param set MC_YAWRATE_P 0.22
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param set MC_YAWRATE_I 0.02
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param set MC_YAWRATE_D 0.0
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param set MC_YAWRATE_FF 0.0
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param set VT_MOT_COUNT 2
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param set VT_IDLE_PWM_MC 1080
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param set VT_TYPE 0
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param set MAV_TYPE 19
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param set VT_ELEV_MC_LOCK 0
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fi
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set MIXER caipirinha_vtol
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set PWM_OUT 1234
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