#!/bin/sh # # @name 6DoF Omnicopter SITL # # @type Quadrotor Wide # # @maintainer Jaeyoung Lim # . ${R}etc/init.d/rc.mc_defaults param set-default SYS_CTRL_ALLOC 1 param set-default CA_AIRFRAME 0 param set-default CA_ROTOR_COUNT 8 param set-default CA_R_REV 255 param set-default CA_ROTOR0_PX 0.14435 param set-default CA_ROTOR0_PY -0.14435 param set-default CA_ROTOR0_PZ -0.14435 param set-default CA_ROTOR0_KM 0.05 # CCW param set-default CA_ROTOR0_AX -0.788675 param set-default CA_ROTOR0_AY -0.211325 param set-default CA_ROTOR0_AZ -0.57735 param set-default CA_ROTOR1_PX -0.14435 param set-default CA_ROTOR1_PY -0.14435 param set-default CA_ROTOR1_PZ -0.14435 param set-default CA_ROTOR1_KM 0.05 param set-default CA_ROTOR1_AX 0.211325 param set-default CA_ROTOR1_AY -0.788675 param set-default CA_ROTOR1_AZ 0.57735 param set-default CA_ROTOR2_PX 0.14435 param set-default CA_ROTOR2_PY 0.14435 param set-default CA_ROTOR2_PZ -0.14435 param set-default CA_ROTOR2_KM 0.05 param set-default CA_ROTOR2_AX -0.211325 param set-default CA_ROTOR2_AY 0.788675 param set-default CA_ROTOR2_AZ 0.57735 param set-default CA_ROTOR3_PX -0.14435 param set-default CA_ROTOR3_PY 0.14435 param set-default CA_ROTOR3_PZ -0.14435 param set-default CA_ROTOR3_KM 0.05 param set-default CA_ROTOR3_AX 0.788675 param set-default CA_ROTOR3_AY 0.211325 param set-default CA_ROTOR3_AZ -0.57735 param set-default CA_ROTOR4_PX 0.14435 param set-default CA_ROTOR4_PY -0.14435 param set-default CA_ROTOR4_PZ 0.14435 param set-default CA_ROTOR4_KM 0.05 param set-default CA_ROTOR4_AX 0.788675 param set-default CA_ROTOR4_AY 0.211325 param set-default CA_ROTOR4_AZ -0.57735 param set-default CA_ROTOR5_PX -0.14435 param set-default CA_ROTOR5_PY -0.14435 param set-default CA_ROTOR5_PZ 0.14435 param set-default CA_ROTOR5_KM 0.05 param set-default CA_ROTOR5_AX -0.211325 param set-default CA_ROTOR5_AY 0.788675 param set-default CA_ROTOR5_AZ 0.57735 param set-default CA_ROTOR6_PX 0.14435 param set-default CA_ROTOR6_PY 0.14435 param set-default CA_ROTOR6_PZ 0.14435 param set-default CA_ROTOR6_KM 0.05 param set-default CA_ROTOR6_AX 0.211325 param set-default CA_ROTOR6_AY -0.788675 param set-default CA_ROTOR6_AZ 0.57735 param set-default CA_ROTOR7_PX -0.14435 param set-default CA_ROTOR7_PY 0.14435 param set-default CA_ROTOR7_PZ 0.14435 param set-default CA_ROTOR7_KM 0.05 param set-default CA_ROTOR7_AX -0.788675 param set-default CA_ROTOR7_AY -0.211325 param set-default CA_ROTOR7_AZ -0.57735 param set-default PWM_MAIN_FUNC1 101 param set-default PWM_MAIN_FUNC2 102 param set-default PWM_MAIN_FUNC3 103 param set-default PWM_MAIN_FUNC4 104 param set-default PWM_MAIN_FUNC5 105 param set-default PWM_MAIN_FUNC6 106 param set-default PWM_MAIN_FUNC7 107 param set-default PWM_MAIN_FUNC8 108 # disable MC desaturation which improves attitude tracking param set-default CA_METHOD 0 # disable attitude failure detection param set-default FD_FAIL_P 0 param set-default FD_FAIL_R 0 set MIXER skip set MIXER_AUX none