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51 lines
956 B
51 lines
956 B
7 years ago
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#!nsh
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#
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# @name VTOL Tiltrotor
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#
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# @type VTOL Tiltrotor
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#
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sh /etc/init.d/rc.vtol_defaults
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if [ $AUTOCNF == yes ]
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then
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param set MAV_TYPE 21
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param set FW_AIRSPD_MAX 25
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param set FW_AIRSPD_MIN 14
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param set FW_AIRSPD_TRIM 16
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param set MC_ROLLRATE_P 0.3
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param set MIS_LTRMIN_ALT 10
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param set MIS_TAKEOFF_ALT 10
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param set MIS_YAW_TMT 10
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param set MPC_ACC_HOR_MAX 2
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param set MPC_ACC_HOR_MAX 2.0
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param set MPC_THR_MIN 0.1
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param set MPC_TKO_SPEED 1.0
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param set MPC_XY_P 0.15
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param set MPC_XY_VEL_D 0.005
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param set MPC_XY_VEL_I 0.2
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param set MPC_XY_VEL_P 0.05
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param set MPC_Z_VEL_MAX_DN 1.5
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param set MPC_Z_VEL_P 0.8
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param set NAV_ACC_RAD 5.0
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param set NAV_LOITER_RAD 80
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param set VT_F_TRANS_DUR 1.5
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param set VT_F_TRANS_THR 0.75
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param set VT_MOT_COUNT 4
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param set VT_TILT_FW 3.1415
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param set VT_TILT_TRANS 1.2
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param set VT_TYPE 1
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param set WEST_EN 1
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fi
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set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
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set MIXER custom
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