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68 lines
1.3 KiB
68 lines
1.3 KiB
#!nsh |
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# |
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# @name QuadRanger |
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# |
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# @type Standard VTOL |
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# |
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# @maintainer Sander Smeets <sander@droneslab.com> |
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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 VT_TYPE 2 |
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param set VT_MOT_COUNT 4 |
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param set VT_TRANS_THR 0.75 |
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param set PWM_AUX_REV1 1 |
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param set PWM_AUX_REV2 1 |
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param set MC_ROLL_P 7.0 |
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param set MC_ROLLRATE_P 0.15 |
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param set MC_ROLLRATE_I 0.1 |
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param set MC_ROLLRATE_D 0.004 |
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param set MC_ROLLRATE_FF 0.0 |
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param set MC_PITCH_P 7.0 |
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param set MC_PITCHRATE_P 0.15 |
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param set MC_PITCHRATE_I 0.1 |
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param set MC_PITCHRATE_D 0.004 |
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param set MC_PITCHRATE_FF 0.0 |
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param set MC_YAW_P 3.5 |
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param set MC_YAW_FF 0.7 |
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param set MC_YAWRATE_P 0.6 |
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param set MC_YAWRATE_I 0.04 |
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param set MC_YAWRATE_D 0.0 |
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param set MC_YAWRATE_FF 0.0 |
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param set MPC_ACC_HOR_MAX 2.0 |
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param set MPC_Z_VEL_MAX 1.5 |
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param set MPC_TKO_SPEED 1.5 |
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param set MPC_LAND_SPEED 0.8 |
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param set FW_THR_CRUISE 65.0 |
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param set FW_PR_P 0.08 |
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param set FW_PR_FF 0.5 |
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param set FW_RR_P 0.05 |
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param set FW_RR_FF 0.6 |
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param set MIS_YAW_TMT 10 |
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param set VT_ARSP_TRANS 15.0 |
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param set VT_ARSP_BLEND 8.0 |
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param set VT_B_TRANS_DUR 4.0 |
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fi |
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set MIXER vtol_quad_x |
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set PWM_OUT 1234 |
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set PWM_RATE 400 |
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set MIXER_AUX vtol_AAERT |
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set PWM_ACHDIS 5 |
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set PWM_AUX_DISARMED 950 |
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set MAV_TYPE 22 |
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param set VT_MOT_COUNT 4 |
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param set VT_IDLE_PWM_MC 1080 |
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param set VT_TYPE 2
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