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Create 13030_mugin_vtol #12706

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Create 13030_mugin_vtol #12706

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e3657a8
Create 13030_mugin_vtol
BanthaRage Aug 14, 2019
1347fda
Update 13030_mugin_vtol
BanthaRage Aug 15, 2019
b90c3d2
Update 13030_mugin_vtol
BanthaRage Aug 15, 2019
7beebe4
Update 13030_mugin_vtol
BanthaRage Aug 16, 2019
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73 changes: 73 additions & 0 deletions ROMFS/px4fmu_common/init.d/airframes/13030_mugin_vtol
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#!/bin/sh
#
# @name Mugin-4 4720mm VTOL
#
# @type Standard VTOL
# @class VTOL
#
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output MAIN5 Servo 1
# @output MAIN6 Servo 2
# @output MAIN7 Servo 3
# @output AUX1 Aileron 1
# @output AUX2 Aileron 2
# @output AUX3 Elevator
# @output AUX4 Rudder
# @output AUX5 Throttle
# @output AUX6 Choke
#

sh /etc/init.d/rc.vtol_defaults

if [ $AUTOCNF = yes ]
then
param set PWM_AUX_DIS5 950

param set PWM_RATE 400

param set MC_ROLL_P 6
param set MC_ROLLRATE_P 0.17
param set MC_ROLLRATE_I 0.002
param set MC_ROLLRATE_D 0.004
param set MC_ROLLRATE_FF 0
param set MC_PITCH_P 6
param set MC_PITCHRATE_P 0.19
param set MC_PITCHRATE_I 0.002
param set MC_PITCHRATE_D 0.004
param set MC_PITCHRATE_FF 0
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.22
param set MC_YAWRATE_I 0.02
param set MC_YAWRATE_D 0
param set MC_YAWRATE_FF 0
param set MC_YAWRATE_MAX 40
param set MPC_YAWRAUTO_MAX 40
param set FW_PR_FF 0.5
param set FW_PR_I 0.02
param set FW_PR_IMAX 0.4
param set FW_PR_P 0.08
param set FW_RR_FF 0.6
param set FW_RR_I 0.01
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.05
param set FW_THR_CRUISE 0.75
param set VT_ARSP_BLEND 6
param set VT_ARSP_TRANS 12
param set VT_F_TRANS_THR 0.75
param set VT_MOT_COUNT 1234
param set VT_FW_MOT_OFFID 1234
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 2

fi

set MAV_TYPE 22

set MIXER mugin_vtol.main.mix
set MIXER mugin_vtol.aux.mix

set PWM_OUT 1234567