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29 lines
504 B
29 lines
504 B
#!/bin/sh |
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# |
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# @name 3DR Iris Quadrotor SITL (Optical Flow) |
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# |
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# @type Quadrotor Wide |
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# |
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sh /etc/init.d-posix/10016_iris |
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if [ $AUTOCNF = yes ] |
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then |
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# EKF2 |
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param set EKF2_AID_MASK 2 |
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param set EKF2_EVP_NOISE 0.05 |
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param set EKF2_EVA_NOISE 0.05 |
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# INAV |
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param set INAV_LIDAR_EST 1 |
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param set INAV_W_XY_FLOW 1 |
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param set INAV_W_XY_GPS_P 0 |
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param set INAV_W_XY_GPS_V 0 |
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param set INAV_W_Z_GPS_P 0 |
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# LPE: Flow-only mode |
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param set LPE_FUSION 242 |
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param set LPE_FAKE_ORIGIN 1 |
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param set MPC_ALT_MODE 2 |
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fi
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