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dakejahl authored
* added a parameter for enabled the smart battery * start tel1 and tel2 at 921600 and max rate * turned up the max tx rate on mavlink streams for telem1 and telem2 * turned off mavlink stream for tel1 in 4250_teal. This is connected to TX1 FTDI UART and has issues. * moved check to 4250 board ID to start mpu9250s for Teal airframe into fmuv4 rc.board.
dakejahl authored* added a parameter for enabled the smart battery * start tel1 and tel2 at 921600 and max rate * turned up the max tx rate on mavlink streams for telem1 and telem2 * turned off mavlink stream for tel1 in 4250_teal. This is connected to TX1 FTDI UART and has issues. * moved check to 4250 board ID to start mpu9250s for Teal airframe into fmuv4 rc.board.
4250_teal 4.91 KiB
#!nsh
#
# @name Teal One
#
# @type Quadrotor x
# @class Copter
#
# @board px4_fmu-v2 exclude
# @board px4_fmu-v3 exclude
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
#
# @maintainer Jacob Dahl <jacob.dahl@tealdrones.com>
#
echo "Executing 4250_teal script."
sh /etc/init.d/rc.mc_defaults
set MIXER quad_x
set PWM_OUT 1234
if [ $AUTOCNF = yes ]
then
# First thing, reset all params to default... EXCEPT THIS LIST
param reset_nostart RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* CAL_MAG* SENS_BOARD* EKF2_MAGBIAS*
# battery
param set BAT_CAPACITY 2750
param set BAT_CRIT_THR 0.15
param set BAT_EMERGEN_THR 0.075
param set BAT_LOW_THR 0.20
param set BAT_N_CELLS 4
param set BAT_R_INTERNAL 0.06
param set BAT_SOURCE 1
param set BAT_V_CHARGED 4.15
param set BAT_V_DIV 11.1625
param set BAT_V_EMPTY 3.65
param set BAT_V_OFFS_CURR -0.0045
# sensor calibration
param set CAL_MAG0_ROT 0
param set CAL_MAG_SIDES 63
param set SENS_BOARD_ROT 0
param set COM_ARM_MAG 1.5
param set COM_ARM_EKF_AB 0.0032
# circuit breakers
param set CBRK_IO_SAFETY 22027
param set CBRK_USB_CHK 197848
# commander
param set COM_DISARM_LAND 0.1
# Return mode at critically low level, Land mode at current position if reaching dangerously low levels.
param set COM_LOW_BAT_ACT 3
# ekf2
param set EKF2_AID_MASK 1
param set EKF2_MAG_TYPE 1
param set EKF2_GPS_CHECK 511
param set EKF2_GPS_POS_X -0.04
param set EKF2_IMU_POS_X -0.06
param set EKF2_PCOEF_XN 0.1
param set EKF2_PCOEF_XP -0.5
param set EKF2_RNG_AID 1 param set EKF2_RNG_A_VMAX 20
param set EKF2_RNG_NOISE 0.2
param set EKF2_MIN_RNG 0.07
# gps
param set GPS_UBX_DYNMODEL 7
# geofence
# Geofence violation action -- Warning.
param set GF_ACTION 1
# land detector
param set LNDMC_XY_VEL_MAX 1
# This is set high because we have lots of vibrations while in contact with ground.
param set LNDMC_ROT_MAX 50
# serial comms
param set SER_TEL1_BAUD 921600
param set SER_TEL2_BAUD 921600
# mavlink stream configuration
# TEL1 ttyS1 -- disabled. TX1 FTDI UART has issues.
param set MAV_0_CONFIG 0
param set MAV_0_RATE 800000
# TEL2 ttyS2 -- Primary MAVLINK stream to companion computer.
param set MAV_1_CONFIG 102
param set MAV_1_RATE 800000
# mc_att_control
param set MC_ACRO_P_MAX 360
param set MC_ACRO_R_MAX 360
param set MC_ACRO_Y_MAX 360
param set MC_ROLL_P 6
param set MC_ROLLRATE_P 0.055
param set MC_ROLLRATE_I 0.2
param set MC_ROLLRATE_D 0.0012
param set MC_ROLLRATE_MAX 180
param set MC_PITCH_P 6.5
param set MC_PITCHRATE_P 0.06
param set MC_PITCHRATE_I 0.2
param set MC_PITCHRATE_D 0.0012
param set MC_PITCHRATE_MAX 180
param set MC_YAW_P 1
param set MC_YAWRATE_P 0.08
param set MC_YAWRATE_I 0.08
param set MC_YAWRATE_D 0
param set MC_YAWRATE_MAX 180
# Set to reduce voltage transients as seen by battery management system.
param set MOT_SLEW_MAX 0.15
#### CONTROLLER ###
param set MPC_LAND_ALT1 8
param set MPC_LAND_ALT2 5
param set MPC_TKO_RAMP_T 0.75
param set MPC_TKO_SPEED 0.75
param set MPC_TILTMAX_LND 18
param set MPC_TILTMAX_AIR 45
param set MPC_MAN_TILT_MAX 45
param set MPC_MANTHR_MAX 0.85
param set MPC_MANTHR_MIN 0.15
# Full throttle can trip over current protection on BMS.
param set MPC_THR_MAX 0.85
param set MPC_THR_MIN 0.15
param set MPC_VEL_MANUAL 26.5
# RTL speed, it was too fast and scaring people.
param set MPC_XY_CRUISE 15
param set MPC_MAN_Y_MAX 200
param set MPC_JERK_MAX 5
param set MPC_ACC_UP_MAX 10
param set MPC_ACC_DOWN_MAX 10
param set MPC_ACC_HOR 10
param set MPC_ACC_HOR_MAX 15
param set MPC_XY_P 1.15
param set MPC_XY_VEL_P 0.14
param set MPC_XY_VEL_I 0.014
param set MPC_XY_VEL_D 0.014
param set MPC_XY_VEL_MAX 26.5
param set MPC_Z_P 0.85
param set MPC_Z_VEL_P 0.25
param set MPC_Z_VEL_I 0.085
param set MPC_Z_VEL_D 0.02
# Documentation says limit is 8.0, but does not seem to be enforced in code.
param set MPC_Z_VEL_MAX_UP 20
param set MPC_Z_VEL_MAX_DN 2.5
#### CONTROLLER ###
# navigator
param set NAV_ACC_RAD 2.5
# RC loss failsafe behavior -- hold mode.
param set NAV_RCL_ACT 1
# pwm control
param set PWM_DISARMED 900
param set PWM_MAX 1850
param set PWM_MIN 1075
# Oneshot125
param set PWM_RATE 0
# rtl
param set RTL_DESCEND_ALT 5
param set RTL_LAND_DELAY 5
param set RTL_MIN_DIST 7.5
param set RTL_RETURN_ALT 25
# calibration
param set CAL_ACC0_EN 1
param set CAL_ACC1_EN 0
#mpu6500
param set CAL_ACC_PRIME 1442826
param set CAL_GYRO0_EN 1
param set CAL_GYRO1_EN 0
#mpu6500
param set CAL_GYRO_PRIME 2360330
param set CAL_MAG0_EN 1
param set CAL_MAG1_EN 0
param set CAL_MAG_PRIME 265738
fi
# Do not start frsky_telemetry on port ttyS6 by default, PGA460 lives there. 500 is in arbitrary unused number.
param set TEL_FRSKY_CONFIG 500
# We want to make sure these always start
param set SENS_EN_PGA460 1
param set SENS_EN_THERMAL 1
param set SENS_EN_BATT 1