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Feature/TPA #5861
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Feature/TPA #5861
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9a08b77
Rework TPA to have per-component setup and use more stable and intuit…
anton-matosov 40a70f9
Add ZMR250 params
anton-matosov c4285a0
Remove debug code for RATE_I_MODE
anton-matosov 195b618
Fix formatting
anton-matosov 3a1c689
Remove code that should be in MC-Failsafe branch
anton-matosov 26cf17f
Rename TPA_SLOPE into TPA_RATE and remove unused params
anton-matosov a4a795c
Merge latest 'master' into feature/TPA
anton-matosov e127e4a
Merge branch 'master' into feature/TPA
anton-matosov 125cfb1
Merge commit 'b020be13f67838047d1c2532cf66a99ceb28cddf' into feature/TPA
anton-matosov fb7eb50
Merge branch 'master' into feature/TPA
anton-matosov 7141b0f
Rename to solve conflict
anton-matosov 4df4226
Update to the most recent config
anton-matosov 50ff01d
Merge commit 'fee75c61a18d8c8d6a32406575ed5ede79d01446' into feature/TPA
anton-matosov 2caf71e
Merge commit '64657900de1b306c509aeeb704ef897a00aa4183' into feature/TPA
anton-matosov 3f57f08
Merge branch 'master' into feature/TPA
anton-matosov 3adaf6a
Merge branch 'master' into feature/TPA
anton-matosov 62a9f28
Merge branch 'master' into feature/TPA
anton-matosov c19e37d
Merge branch 'master' into feature/TPA
anton-matosov e280259
Merge branch 'master' into feature/TPA
anton-matosov 983b745
Merge branch 'master' into feature/TPA
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,58 @@ | ||
#!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> | ||
# | ||
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sh /etc/init.d/rc.mc_defaults | ||
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set MIXER zmr250 | ||
set PWM_OUT 1234 | ||
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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 | ||
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||
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 | ||
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||
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 | ||
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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 | ||
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param set MC_TPA_BREAK_P 0.7 | ||
param set MC_TPA_BREAK_D 0.7 | ||
param set MC_TPA_RATE_P 0.3 | ||
param set MC_TPA_RATE_D 0.3 | ||
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param set PWM_MIN 1075 | ||
param set PWM_RATE 1000 | ||
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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 | ||
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param set CBRK_IO_SAFETY 22027 | ||
fi |
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,10 @@ | ||
# R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband> | ||
R: 4x 7654 10000 10000 0 | ||
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M: 1 | ||
O: 10000 10000 0 -10000 10000 | ||
S: 0 4 10000 10000 0 -10000 10000 | ||
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M: 1 | ||
O: 10000 10000 0 -10000 10000 | ||
S: 0 5 10000 10000 0 -10000 10000 |
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@anton-matosov I'm talking about the roll_scale parameter (7654) on this line
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Ok, never mind my previous post then.
Mixer config is the best way to accommodate custom geometry. ZMR 250 is asymmetric and mixer compensates this.
For ZMR250 mixing for cleanflight/betaflight please refer to https://oscarliang.com/custom-motor-output-mix-quadcopter/