From dce4d75f5aaf298e893b55d5432cb49dbedd3bfd Mon Sep 17 00:00:00 2001 From: dakejahl <37091262+dakejahl@users.noreply.github.com> Date: Fri, 19 Oct 2018 18:27:50 -0600 Subject: [PATCH] TealOne airframe config file (#10713) --- ROMFS/px4fmu_common/init.d/4250_teal | 174 +++++++++++++++++++++++++++ 1 file changed, 174 insertions(+) create mode 100644 ROMFS/px4fmu_common/init.d/4250_teal diff --git a/ROMFS/px4fmu_common/init.d/4250_teal b/ROMFS/px4fmu_common/init.d/4250_teal new file mode 100644 index 0000000000..881bc8084d --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/4250_teal @@ -0,0 +1,174 @@ +#!nsh +# +# @name Teal One +# +# @type Quadrotor x +# @class Copter +# +# @board px4fmu-v2 exclude +# @board px4fmu-v3 exclude +# @board px4fmu-v4pro exclude +# @board px4fmu-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> +# @maintainer Alex Klimaj <alex.klimaj@tealdrones.com> +# + +echo "Executing 4250_teal script." + +sh /etc/init.d/4001_quad_x +set MIXER_AUX none + +if [ $AUTOCNF = yes ] +then + # 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 + + # primary accel + param set CAL_ACC_PRIME 1442826 #mpu6500 + #param set CAL_ACC_PRIME 1445386 #mpu9250 + + # primary gyro + param set CAL_GYRO_PRIME 2360330 #mpu6500 + #param set CAL_GYRO_PRIME 2362890 #mpu9250 + + #primary Mag + #param set CAL_MAG_PRIME 265738 #mpu9250 + + # 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 1 + param set COM_LOW_BAT_ACT 3 + param set COM_LOSS_LTR_T 20 + + # ekf2 + param set EKF2_AID_MASK 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_MIN_RNG 0.07 + 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 20.0 + param set EKF2_RNG_NOISE 0.2 + + # gps + param set GPS_UBX_DYNMODEL 7 + + # geofence + param set GF_ACTION 1 + + # land detector + param set LNDMC_THR_RANGE 0.50 + param set LNDMC_XY_VEL_MAX 1.0 + param set LNDMC_ROT_MAX 50.0 + + # mavlink stream configuration + param set MAV_1_CONFIG 102 + param set MAV_1_RATE 20000 + + # mc_att_control + param set MC_ACRO_P_MAX 360.0 + param set MC_ACRO_R_MAX 360.0 + param set MC_ACRO_Y_MAX 360.0 + + param set MC_ROLL_P 6.0 + 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 180.0 + + 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 180.0 + + param set MC_YAW_P 1.0 + param set MC_YAWRATE_P 0.08 + param set MC_YAWRATE_I 0.08 + param set MC_YAWRATE_D 0.0 + param set MC_YAWRATE_MAX 180.0 + + param set MOT_SLEW_MAX 0.15 + + # mc_pos_control + param set MPC_ACC_DOWN_MAX 10.0 + param set MPC_ACC_HOR 10.0 + param set MPC_ACC_HOR_MAX 15.0 + param set MPC_ACC_UP_MAX 10.0 + param set MPC_JERK_MAX 5.0 + param set MPC_LAND_ALT1 8.0 + param set MPC_LAND_ALT2 5.0 + param set MPC_MANTHR_MAX 0.85 + param set MPC_MANTHR_MIN 0.15 + param set MPC_MAN_TILT_MAX 45.0 + param set MPC_MAN_Y_MAX 200.0 + param set MPC_THR_MAX 0.85 + param set MPC_THR_MIN 0.15 + param set MPC_TILTMAX_AIR 45.0 + param set MPC_TKO_RAMP_T 0.75 + param set MPC_TKO_SPEED 0.75 + param set MPC_VEL_MANUAL 26.5 + param set MPC_XY_CRUISE 15.0 + 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 0.8 + param set MPC_TILTMAX_LND 18.0 + + param set MPC_Z_VEL_D 0.02 + param set MPC_Z_VEL_MAX_DN 2.5 + param set MPC_Z_VEL_MAX_UP 6.0 + + # navigator + param set NAV_ACC_RAD 2.5 + param set NAV_RCL_ACT 1 + + # pwm control + param set PWM_DISARMED 900 + param set PWM_MAX 1850 + param set PWM_MIN 1075 + param set PWM_RATE 400 + + # 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 + + # sensors + param set SENS_EN_PGA460 1 + param set SENS_EN_THERMAL 1 + + # serial comms + param set SER_TEL2_BAUD 921600 + +fi -- GitLab