5011_crazy2fly

#!/bin/sh
#
# @name LS2N Crazy2Fly quadrotor
#
# @type + Quadrotor +
#
# @maintainer Damien Six <damien.six@ls2n.fr>
#

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

param set PWM_MAIN_MAX 1000
param set PWM_MAIN_MIN 0
param set THR_MDL_FAC 1.0

param set MC_ROLLRATE_K 1.8
param set MC_ROLLRATE_D 0.002
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
param set MC_PITCHRATE_D 0.002
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
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_P 0.2
param set MC_YAW_P 5.0
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
param set MC_PITCHRATE_MAX 1800.0
param set MC_ROLLRATE_MAX 1800.0
param set MC_YAWRATE_MAX 1800.0

set MIXER quad_+