4050_generic_250
1.19 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
#!/bin/sh
#
# @name Generic 250 Racer
#
# @type Quadrotor x
# @class Copter
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.mc_defaults
set MIXER quad_x
set PWM_OUT 1234
param set-default MC_ROLL_P 8
param set-default MC_ROLLRATE_P 0.08
param set-default MC_ROLLRATE_I 0.25
param set-default MC_ROLLRATE_D 0.001
param set-default MC_PITCH_P 8
param set-default MC_PITCHRATE_P 0.08
param set-default MC_PITCHRATE_I 0.25
param set-default MC_PITCHRATE_D 0.001
param set-default MC_YAW_P 4
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
param set-default MC_ROLLRATE_MAX 1600
param set-default MC_PITCHRATE_MAX 1600
param set-default MC_YAWRATE_MAX 1000
param set-default MPC_MANTHR_MIN 0
param set-default MPC_MAN_TILT_MAX 60
# use thrust curve factor (instead of TPA)
param set-default THR_MDL_FAC 0.3
param set-default PWM_MAIN_MIN 1075
# enable one-shot
param set-default PWM_MAIN_RATE 0
# enable high-rate logging profile (helps with tuning)
param set-default SDLOG_PROFILE 19
param set-default IMU_DGYRO_CUTOFF 50
param set-default IMU_GYRO_CUTOFF 90
param set-default CBRK_IO_SAFETY 22027