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37 lines
730 B
37 lines
730 B
#!nsh |
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# |
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# Team Blacksheep Discovery Quadcopter |
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# |
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# Anton Babushkin <anton@px4.io>, Simon Wilks <simon@px4.io> |
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# |
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sh /etc/init.d/rc.mc_defaults |
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if [ $AUTOCNF == yes ] |
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then |
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# TODO review MC_YAWRATE_I |
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param set MC_ROLL_P 8.0 |
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param set MC_ROLLRATE_P 0.07 |
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param set MC_ROLLRATE_I 0.05 |
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param set MC_ROLLRATE_D 0.0017 |
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param set MC_PITCH_P 8.0 |
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param set MC_PITCHRATE_P 0.1 |
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param set MC_PITCHRATE_I 0.1 |
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param set MC_PITCHRATE_D 0.0025 |
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param set MC_YAW_P 2.8 |
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param set MC_YAWRATE_P 0.28 |
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param set MC_YAWRATE_I 0.1 |
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param set MC_YAWRATE_D 0.0 |
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fi |
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set MIXER quad_w |
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set PWM_OUT 1234 |
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set PWM_MIN 1200 |
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set MIXER_AUX pass |
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set PWM_AUX_RATE 50 |
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set PWM_AUX_OUT 1234 |
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set PWM_AUX_DISARMED 1000 |
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set PWM_AUX_MIN 1000 |
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set PWM_AUX_MAX 2000
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