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56 lines
1.1 KiB
56 lines
1.1 KiB
#!/bin/sh |
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# |
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# @name VTOL Tiltrotor |
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# |
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# @type VTOL Tiltrotor |
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# |
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. ${R}etc/init.d/rc.vtol_defaults |
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if [ $AUTOCNF = yes ] |
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then |
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param set FW_L1_PERIOD 12 |
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param set FW_MAN_P_MAX 30 |
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param set FW_PR_FF 0.2 |
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param set FW_PR_I 0.4 |
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param set FW_PR_P 0.9 |
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param set FW_PSP_OFF 2 |
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param set FW_P_LIM_MAX 32 |
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param set FW_P_LIM_MIN -15 |
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param set FW_RR_FF 0.1 |
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param set FW_RR_P 0.3 |
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param set FW_THR_CRUISE 0.38 |
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param set FW_THR_MAX 0.6 |
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param set FW_THR_MIN 0.05 |
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param set FW_T_ALT_TC 2 |
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param set FW_T_CLMB_MAX 8 |
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param set FW_T_HRATE_FF 0.5 |
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param set FW_T_SINK_MAX 2.7 |
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param set FW_T_SINK_MIN 2.2 |
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param set FW_T_TAS_TC 2 |
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param set MC_YAW_P 1.6 |
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param set MIS_TAKEOFF_ALT 10 |
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param set MPC_ACC_HOR_MAX 2 |
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param set MPC_XY_P 0.8 |
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param set MPC_XY_VEL_P_ACC 3 |
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param set MPC_XY_VEL_I_ACC 4 |
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param set MPC_XY_VEL_D_ACC 0.1 |
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param set NAV_ACC_RAD 5 |
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param set NAV_LOITER_RAD 80 |
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param set VT_B_TRANS_DUR 8 |
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param set VT_FWD_THRUST_EN 4 |
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param set VT_MOT_ID 1234 |
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param set VT_TILT_TRANS 0.6 |
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param set VT_TYPE 1 |
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fi |
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set MAV_TYPE 21 |
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set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix |
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set MIXER custom
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