Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-04 21:23:57 +08:00
Code Issues Actions 7 Packages Projects Releases Wiki Activity

Helicopter aiframe and basic PID control (#5339)

Browse Source 
* Helicopter aiframe and basic PID control

* codestyle

* Blade 130x gains working but not optimal

* Changed behaviour of feedforward for all multicopter
This commit is contained in:
Bart Slinger
2016-08-19 22:20:59 +02:00
committed by Lorenz Meier
parent 75c95955fc
commit 7f04e3c759
3 changed files with 107 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d/16001_helicopter
+50
View File
@@ -0,0 +1,50 @@
#!nsh
#
# @name Blade 130X
#
# @type Helicopter
#
# @maintainer Bart Slinger <bartslinger@gmail.com>
#
sh /etc/init.d/rc.mc_defaults
# Configure as helicopter (number 4 defined in commander_helper.cpp)
set MAV_TYPE 4
set MIXER heli_120deg
set PWM_OUT 1234
if [ $AUTOCNF == yes ]
then
param set MC_ROLL_P 5.0
param set MC_ROLLRATE_P 0.0
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.0
param set MC_ROLLRATE_FF 0.15
param set MC_PITCH_P 6.5
param set MC_PITCHRATE_P 0.0
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.0
param set MC_PITCHRATE_FF 0.15
param set MC_YAW_P 3.0
param set MC_YAWRATE_P 0.1
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.0
param set MC_ROLLRATE_MAX 720.0
param set MC_PITCHRATE_MAX 720.0
param set MC_YAWRATE_MAX 400.0
param set MC_ACRO_R_MAX 360.0
param set MC_ACRO_P_MAX 360.0
param set PWM_MIN 1075
param set MPC_THR_MIN 0.06
param set MPC_MANTHR_MIN 0.06
param set ATT_BIAS_MAX 0.0
param set CBRK_IO_SAFETY 22027
fi