4030_3dr_solo
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#!/bin/sh
#
# @name 3DR Solo
#
# @type Quadrotor x
# @class Copter
#
# @maintainer Andreas Antener <andreas@uaventure.com>
#
# @board px4_fmu-v2 exclude
# @board px4_fmu-v3 exclude
# @board px4_fmu-v4 exclude
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.mc_defaults
# tuning
param set-default MC_PITCHRATE_P 0.11
param set-default MC_ROLLRATE_P 0.11
param set-default MPC_MANTHR_MIN 0.08
param set-default MPC_XY_VEL_MAX 3
param set-default MPC_Z_VEL_MAX_DN 2
# takeoff, land and RTL settings
param set-default MIS_TAKEOFF_ALT 4
param set-default RTL_LAND_DELAY 1
param set-default RTL_DESCEND_ALT 5
param set-default RTL_RETURN_ALT 15
param set-default MPC_TILTMAX_LND 8
param set-default MPC_LAND_SPEED 0.4
param set-default MPC_HOLD_MAX_Z 1.5
param set-default MPC_TKO_JMPSPD 2
param set-default MPC_TKO_SPEED 1.5
# setup
# main board rotation: pitch 180
param set-default SENS_BOARD_ROT 12
# solo external mag rotation
param set-default CAL_MAG0_ROT 38
# no safety switch
param set-default CBRK_IO_SAFETY 22027
# battery voltage not available yet
param set-default CBRK_SUPPLY_CHK 894281
# RC configuration
param set-default RC_MAP_MODE_SW 5
param set-default RC_MAP_PITCH 2
param set-default RC_MAP_ROLL 1
param set-default RC_MAP_THROTTLE 3
param set-default RC_MAP_YAW 4
param set-default RC1_DZ 10
param set-default RC1_MAX 1988
param set-default RC1_MIN 1003
param set-default RC1_REV 1
param set-default RC1_TRIM 1499
param set-default RC2_DZ 10
param set-default RC2_MAX 1987
param set-default RC2_MIN 1023
param set-default RC2_REV -1
param set-default RC2_TRIM 1499
param set-default RC3_DZ 10
param set-default RC3_MAX 1877
param set-default RC3_MIN 1023
param set-default RC3_REV 1
param set-default RC3_TRIM 1023
param set-default RC4_DZ 10
param set-default RC4_MAX 1998
param set-default RC4_MIN 1012
param set-default RC4_REV 1
param set-default RC4_TRIM 1500
param set-default RC5_DZ 10
param set-default RC5_MAX 2000
param set-default RC5_MIN 1000
param set-default RC5_REV 1
param set-default RC5_TRIM 1500
# enable high-speed link on telem 1
param set-default MAV_0_RATE 80000
param set-default MAV_0_MODE 2
param set-default SER_TEL1_BAUD 921600
set MIXER quad_x
set PWM_OUT 1234
set MIXER_AUX none