5011_crazy2fly 970 Bytes
Newer Older
1
2
3
4
5
6
#!/bin/sh
#
# @name LS2N Crazy2Fly quadrotor
#
# @type + Quadrotor +
#
7
# @maintainer Damien Six <damien.six@ls2n.fr>
8
9
10
11
#

. ${R}etc/init.d/rc.mc_defaults

12
13
14
param set PWM_MAIN_MAX 1000
param set PWM_MAIN_MIN 0
param set THR_MDL_FAC 1.0
15
16

param set MC_ROLLRATE_K 1.8
17
param set MC_ROLLRATE_D 0.002
18
19
20
21
param set MC_ROLLRATE_I 0.500
param set MC_ROLLRATE_P 0.15
param set MC_ROLL_P 10.0
param set MC_PITCHRATE_K 1.8
22
param set MC_PITCHRATE_D 0.002
23
24
25
26
27
param set MC_PITCHRATE_I 0.500
param set MC_PITCHRATE_P 0.15
param set MC_PITCH_P 10.0
param set MC_YAWRATE_K 3.5
param set MC_YAWRATE_D 0.002
28
29
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_P 0.2
30
param set MC_YAW_P 5.0
31
32
33
34
35
36
37
param set EKF2_AID_MASK 24
param set EKF2_EVV_NOISE 0.01
param set EKF2_EV_DELAY 10.0
param set EKF2_EV_NOISE_MD 1
param set EKF2_GPS_CHECK 0
param set EKF2_HGT_MODE 3
param set EKF2_REQ_GPS_H 10.0
Damien SIX's avatar
Damien SIX committed
38
39
40
param set MC_PITCHRATE_MAX 1800.0
param set MC_ROLLRATE_MAX 1800.0
param set MC_YAWRATE_MAX 1800.0
41

42
set MIXER quad_+