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120 lines
2.6 KiB
120 lines
2.6 KiB
#!/bin/sh |
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# |
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# @name BabyShark VTOL |
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# |
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# @type Standard VTOL |
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# @class VTOL |
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# |
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# @maintainer Silvan Fuhrer <silvan@auterion.com> |
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# |
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# @output MAIN1 Ailerons |
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# @output MAIN2 A-tail left |
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# @output MAIN3 Pusher motor |
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# @output MAIN4 A-tail right |
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# @output MAIN5 motor 1 |
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# @output MAIN6 motor 2 |
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# @output MAIN7 motor 3 |
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# @output MAIN8 motor 4 |
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# |
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# @board px4_fmu-v2 exclude |
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# @board intel_aerofc-v1 exclude |
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# @board bitcraze_crazyflie exclude |
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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 BAT_N_CELLS 6 |
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param set FW_AIRSPD_MAX 30 |
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param set FW_AIRSPD_MIN 19 |
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param set FW_AIRSPD_TRIM 23 |
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param set FW_L1_R_SLEW_MAX 40 |
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param set FW_LND_EARLYCFG 1 |
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param set FW_MAN_P_MAX 30 |
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param set FW_PR_I 0.1 |
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param set FW_PSP_OFF 3 |
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param set FW_P_LIM_MAX 18 |
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param set FW_P_LIM_MIN -25 |
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param set FW_RLL_TO_YAW_FF 0.1 |
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param set FW_RR_I 0.1 |
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param set FW_RR_P 0.08 |
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param set FW_R_LIM 45 |
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param set FW_R_RMAX 50 |
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param set FW_THR_CRUISE 0.65 |
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param set FW_THR_MIN 0.3 |
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param set FW_THR_SLEW_MAX 0.6 |
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param set FW_T_HRATE_FF 0 |
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param set FW_T_SINK_MAX 15 |
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param set FW_T_SINK_MIN 3 |
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param set FW_T_THRO_CONST 6 |
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param set FW_T_TIME_CONST 6 |
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param set FW_YR_I 0.1 |
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param set FW_YR_P 0.15 |
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param set IMU_GYRO_CUTOFF 40 |
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param set IMU_DGYRO_CUTOFF 15 |
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param set MC_PITCHRATE_I 0.2 |
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param set MC_PITCHRATE_MAX 60 |
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param set MC_ROLLRATE_I 0.2 |
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param set MC_ROLLRATE_MAX 60 |
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param set MC_YAWRATE_I 0.15 |
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param set MC_YAWRATE_MAX 40 |
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param set MC_YAWRATE_P 0.3 |
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param set MIS_TAKEOFF_ALT 30 |
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param set MPC_ACC_DOWN_MAX 2 |
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param set MPC_ACC_HOR_MAX 2 |
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param set MPC_ACC_UP_MAX 3 |
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param set MC_AIRMODE 1 |
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param set MPC_JERK_AUTO 4 |
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param set MPC_LAND_SPEED 1 |
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param set MPC_MAN_TILT_MAX 25 |
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param set MPC_MAN_Y_MAX 40 |
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param set MPC_POS_MODE 3 |
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param set MPC_SPOOLUP_TIME 1.5 |
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param set MPC_THR_HOVER 0.45 |
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param set MPC_TILTMAX_AIR 25 |
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param set MPC_TKO_RAMP_T 1.8 |
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param set MPC_TKO_SPEED 1 |
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param set MPC_VEL_MANUAL 3 |
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param set MPC_XY_CRUISE 3 |
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param set MPC_XY_VEL_MAX 3.5 |
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param set MPC_YAWRAUTO_MAX 40 |
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param set MPC_Z_VEL_MAX_DN 1.5 |
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param set MPC_Z_VEL_MAX_UP 2 |
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param set NAV_ACC_RAD 3 |
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param set PWM_MAIN_DIS3 1000 |
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param set PWM_MAIN_MIN3 1120 |
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param set PWM_MIN 950 |
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param set SENS_BOARD_ROT 4 |
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param set VT_ARSP_BLEND 10 |
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param set VT_ARSP_TRANS 21 |
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param set VT_B_DEC_MSS 1.5 |
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param set VT_B_TRANS_DUR 12 |
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param set VT_ELEV_MC_LOCK 0 |
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param set VT_FWD_THRUST_SC 1.2 |
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param set VT_FW_MOT_OFFID 5678 |
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param set VT_F_TR_OL_TM 8 |
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param set VT_IDLE_PWM_MC 1000 |
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param set VT_MOT_ID 5678 |
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param set VT_PSHER_RMP_DT 2 |
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param set VT_TRANS_MIN_TM 4 |
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param set VT_TYPE 2 |
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fi |
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set MAV_TYPE 22 |
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set MIXER babyshark |
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set MIXER_AUX pass |
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set PWM_OUT 5678
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