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23 lines
868 B
23 lines
868 B
<launch> |
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<arg name="ns"/> |
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<arg name="mavlink_fcu_url" default="udp://localhost:14565@localhost:14560"/> |
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<include file="$(find px4)/launch/multicopter_w.launch"> |
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<arg name="ns" value="$(arg ns)"/> |
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<arg name="mavlink_fcu_url" value="$(arg mavlink_fcu_url)" /> |
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</include> |
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<group ns="$(arg ns)"> |
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<param name="mixer" type="string" value="i" /> |
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<param name="MPP_XY_P" type="double" value="1.0" /> |
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<param name="MPP_XY_FF" type="double" value="0.0" /> |
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<param name="MPP_XY_VEL_P" type="double" value="0.01" /> |
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<param name="MPP_XY_VEL_I" type="double" value="0.0" /> |
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<param name="MPP_XY_VEL_D" type="double" value="0.01" /> |
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<param name="MPP_XY_VEL_MAX" type="double" value="2.0" /> |
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<param name="MPP_Z_VEL_P" type="double" value="0.3" /> |
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<param name="MPP_Z_P" type="double" value="2" /> |
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<param name="vehicle_model" type="string" value="iris" /> |
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</group> |
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</launch>
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