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66 lines
1.4 KiB
66 lines
1.4 KiB
9 years ago
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#!nsh
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#
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# @name Coaxial Helicopter (such as Esky Lama v4 or Esky Big Lama)
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#
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# @type Coaxial Helicopter
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#
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# @output MAIN1 Left swashplate servomotor, pitch axis
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# @output MAIN2 Right swashplate servomotor, roll axis
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# @output MAIN3 Upper rotor (CCW)
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# @output MAIN4 Lower rotor (CW)
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#
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# @maintainer Emmanuel Roussel
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#
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set VEHICLE_TYPE mc
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if [ $AUTOCNF == yes ]
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then
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param set PE_VELNE_NOISE 0.5
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param set PE_VELD_NOISE 0.35
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param set PE_POSNE_NOISE 0.5
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param set PE_POSD_NOISE 1.25
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param set NAV_ACC_RAD 2.0
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param set RTL_RETURN_ALT 30.0
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param set RTL_DESCEND_ALT 10.0
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param set PWM_DISARMED 900
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param set PWM_MIN 1075
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param set PWM_MAX 1950
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param set MC_ROLL_P 6.5
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param set MC_ROLLRATE_P 0.17
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param set MC_ROLLRATE_I 0.05
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param set MC_ROLLRATE_D 0.005
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param set MC_ROLLRATE_FF 0
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param set MC_PITCH_P 6.5
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param set MC_PITCHRATE_P 0.17
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param set MC_PITCHRATE_I 0.05
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param set MC_PITCHRATE_D 0.005
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param set MC_PITCHRATE_FF 0
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param set MC_YAW_P 2
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param set MC_YAW_FF 0.5
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param set MC_YAWRATE_P 0.1
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param set MC_YAWRATE_I 0.1
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param set MC_YAWRATE_D 0.0
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param set MC_YAWRATE_FF 0
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fi
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set MIXER coax
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# use PWM parameters for throttle channel
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set PWM_OUT 34
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set PWM_RATE 400
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set PWM_DISARMED p:PWM_DISARMED
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set PWM_MIN p:PWM_MIN
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set PWM_MAX p:PWM_MAX
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# This is the gimbal pass mixer
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set MIXER_AUX pass
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set PWM_AUX_RATE 50
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set PWM_AUX_OUT 1234
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set PWM_AUX_DISARMED 1500
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set PWM_AUX_MIN 1000
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set PWM_AUX_MAX 2000
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