Team Kusbegi
Burkut FlightTask
- Steps to follow:
1- Clone PX4/Firmware (please read note at the bottom)
2- "mc_pos_control_main.cpp" and "mc_pos_control_params.c" to "src/modules/mc_pos_control/"
3- "flight_tasks" folder to "src/lib/"
4- cd Firmware
5- make px4_sitl jmavsim
6- Open QGroundControl and take off
7- Change parameter "MPC_AUTO_MODE" to "2".(Advanced settings / Manuel entry)
8- After mission reset to default.
Upload to Pixhawk:
make px4_fmu-v5_default upload
(px4_fmu-v5_default should change for each pixhawk model.Use Pixhawk datasheet)
- Usage:
yaw speed controlled with NAV_LOITER_RAD which is unused by MC (FW only).Default yaw speed is 300.0
For faster speeds (NOT RECOMENDED!) yaw rate must be increased with parameter MC_YAWRATE_MAX
After these settings takeoff basicly to wanted altitude and change parameter MPC_AUTO_MODE to 2
When mission is done parameter will change to default value automaticly.
*** NOTE: After last update MPC_AUTO_MODE cannot be used.Use an older version of PX4 which contains this parameter.