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#!/bin/sh
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#
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# @name Crazyflie 2.1
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#
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# @type Quadrotor x
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# @class Copter
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#
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# @maintainer Dennis Shtatov <densht@gmail.com>
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#
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# @board px4_fmu-v2 exclude
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# @board px4_fmu-v3 exclude
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# @board px4_fmu-v4 exclude
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# @board px4_fmu-v4pro exclude
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# @board px4_fmu-v5 exclude
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# @board px4_fmu-v5x exclude
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#
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. ${R}etc/init.d/rc.mc_defaults
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set MIXER quad_x_cw
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set PWM_OUT 1234
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param set-default SYS_MC_EST_GROUP 3
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param set-default SYS_HAS_MAG 0
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param set-default BAT_N_CELLS 1
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param set-default BAT1_N_CELLS 1
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param set-default BAT1_SOURCE 1
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param set-default CBRK_SUPPLY_CHK 894281
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param set-default CBRK_USB_CHK 197848
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param set-default COM_RC_IN_MODE 1
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param set-default IMU_GYRO_CUTOFF 100
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param set-default IMU_ACCEL_CUTOFF 30
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param set-default MC_AIRMODE 1
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param set-default IMU_DGYRO_CUTOFF 70
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param set-default MC_PITCHRATE_D 0.002
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param set-default MC_PITCHRATE_I 0.2
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param set-default MC_PITCHRATE_P 0.07
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param set-default MC_PITCH_P 6.5
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param set-default MC_ROLLRATE_D 0.002
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param set-default MC_ROLLRATE_I 0.2
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param set-default MC_ROLLRATE_P 0.07
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param set-default MC_ROLL_P 6.5
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param set-default MC_YAW_P 3
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param set-default MPC_THR_HOVER 0.7
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param set-default MPC_THR_MAX 1
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param set-default MPC_Z_P 1.5
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param set-default MPC_Z_VEL_P_ACC 8
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param set-default MPC_Z_VEL_I_ACC 6
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param set-default MPC_HOLD_MAX_XY 0.1
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param set-default MPC_MAX_FLOW_HGT 3
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#param set IMU_GYRO_NF_FREQ 10
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#param set IMU_GYRO_NF_BW 20
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param set-default NAV_RCL_ACT 3
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param set-default PWM_MAIN_DISARM 0
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param set-default PWM_MAIN_MIN 0
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param set-default PWM_MAIN_MAX 255
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# Run the motors at 328.125 kHz (recommended)
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param set-default PWM_MAIN_RATE 3921
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param set-default SDLOG_PROFILE 1
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param set-default SENS_FLOW_MINRNG 0.05
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set PWM_MAIN_DISARM none
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set PWM_MAIN_MAX none
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set PWM_MAIN_MIN none
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syslink start
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mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
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