Feature/TPA

ROMFS/px4fmu_common/init.d/4070_zmr250

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+#!nsh
+#
+# @name ZMR250 Racer
+#
+# @type Quadrotor x
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+#
+# @maintainer Anton Matosov <anton.matosov@gmail.com>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER zmr250
+set PWM_OUT 1234
+
+if [ $AUTOCNF == yes ]
+then
+	param set MC_ROLL_P 2.0
+	param set MC_ROLLRATE_P 0.05
+	param set MC_ROLLRATE_I 0.2
+	param set MC_ROLLRATE_D	0.0003
+	param set MC_ROLL_TC 0.18
+
+	param set MC_PITCH_P 2.0
+	param set MC_PITCHRATE_P 0.05
+	param set MC_PITCHRATE_I 0.2
+	param set MC_PITCHRATE_D 0.0003
+	param set MC_PITCH_TC 0.18
+
+	param set MC_YAW_P 1.0
+	param set MC_YAWRATE_P 0.15
+	param set MC_YAWRATE_I 0.2
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.5
+
+	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 720.0
+	param set MC_ACRO_P_MAX 720.0
+
+	param set MC_TPA_BREAK_P 0.7
+	param set MC_TPA_BREAK_D 0.7
+	param set MC_TPA_SLOPE_P 0.3
+	param set MC_TPA_SLOPE_D 0.3
+
+	param set PWM_MIN 1075
+	param set PWM_RATE 1000
+
+	param set MPC_THR_MIN 0.06
+	param set MPC_THR_MAX 0.9
+	param set MPC_MANTHR_MIN 0.06
+	param set MPC_MANTHR_MAX 0.9
+
+	param set CBRK_IO_SAFETY 22027
+fi

ROMFS/px4fmu_common/mixers/zmr250.main.mix

@@ -0,0 +1,10 @@
+# R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband>
+R: 4x 7654 10000 10000 0
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000