diff --git a/ROMFS/px4fmu_common/init.d/13011_greenkoptr b/ROMFS/px4fmu_common/init.d/13011_greenkoptr new file mode 100644 index 0000000000..1fdd6c3618 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/13011_greenkoptr @@ -0,0 +1,47 @@ +#!nsh +# +# @name BirdsEyeView Aerobotics FireFly6 +# +# @type VTOL Tiltrotor +# +# @maintainer Roman Bapst +# + +sh /etc/init.d/rc.vtol_defaults + +if [ $AUTOCNF == yes ] +then + param set MC_ROLL_P 7.0 + param set MC_ROLLRATE_P 0.17 + param set MC_ROLLRATE_I 0.002 + param set MC_ROLLRATE_D 0.003 + param set MC_ROLLRATE_FF 0.0 + param set MC_PITCH_P 7.0 + param set MC_PITCHRATE_P 0.14 + param set MC_PITCHRATE_I 0.002 + param set MC_PITCHRATE_D 0.003 + param set MC_PITCHRATE_FF 0.0 + param set MC_YAW_P 3.8 + param set MC_YAW_FF 0.5 + param set MC_YAWRATE_P 0.22 + param set MC_YAWRATE_I 0.02 + param set MC_YAWRATE_D 0.0 + param set MC_YAWRATE_FF 0.0 + + param set VT_TILT_MC 0.08 + param set VT_TILT_TRANS 0.5 + param set VT_TILT_FW 0.9 + + param set VT_MOT_COUNT 6 + param set VT_FW_MOT_OFFID 34 + param set VT_IDLE_PWM_MC 1080 + param set VT_TYPE 1 +fi + +set MIXER greenkoptr +set PWM_OUT 12345678 +set PWM_RATE 400 + +set MIXER_AUX greenkoptr + +set MAV_TYPE 21