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82 lines
1.9 KiB
82 lines
1.9 KiB
#!/bin/sh |
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# |
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# @name HIL Standard VTOL QuadPlane |
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# |
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# @type Standard VTOL |
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# @class VTOL |
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# |
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# @maintainer Roman Bapst <roman@auterion.com> |
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# |
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# @board px4_fmu-v2 exclude |
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# @board bitcraze_crazyflie exclude |
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# |
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. ${R}etc/init.d/rc.vtol_defaults |
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param set-default BAT_N_CELLS 3 |
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param set-default COM_RC_IN_MODE 1 |
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param set-default EKF2_AID_MASK 1 |
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param set-default EKF2_ANGERR_INIT 0.01 |
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param set-default EKF2_GBIAS_INIT 0.01 |
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param set-default EKF2_HGT_MODE 0 |
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param set-default EKF2_MAG_TYPE 1 |
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param set-default FW_AIRSPD_MAX 25 |
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param set-default FW_AIRSPD_MIN 14 |
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param set-default FW_AIRSPD_TRIM 16 |
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param set-default MC_PITCH_P 6 |
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param set-default MC_PITCHRATE_P 0.2 |
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param set-default MC_ROLL_P 6 |
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param set-default MC_ROLLRATE_P 0.3 |
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param set-default MIS_LTRMIN_ALT 10 |
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param set-default MIS_TAKEOFF_ALT 10 |
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param set-default MIS_YAW_TMT 10 |
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param set-default MPC_ACC_HOR_MAX 2 |
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param set-default MPC_ACC_HOR_MAX 2 |
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param set-default MPC_THR_MIN 0.1 |
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param set-default MPC_TKO_SPEED 1 |
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param set-default MPC_XY_P 0.8 |
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param set-default MPC_XY_VEL_D_ACC 0.1 |
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param set-default MPC_XY_VEL_I_ACC 4 |
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param set-default MPC_XY_VEL_P_ACC 3 |
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param set-default MPC_Z_VEL_P_ACC 12 |
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param set-default MPC_Z_VEL_I_ACC 3 |
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param set-default MPC_Z_VEL_MAX_DN 1.5 |
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param set-default NAV_ACC_RAD 5 |
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param set-default NAV_DLL_ACT 2 |
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param set-default NAV_LOITER_RAD 80 |
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param set-default RTL_DESCEND_ALT 10 |
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param set-default RTL_RETURN_ALT 30 |
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param set-default SDLOG_DIRS_MAX 7 |
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param set-default SYS_RESTART_TYPE 2 |
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param set-default VT_F_TRANS_THR 0.75 |
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param set-default VT_MOT_ID 1234 |
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param set-default VT_FW_MOT_OFFID 1234 |
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param set-default VT_TYPE 2 |
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param set SYS_HITL 1 |
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# disable some checks to allow to fly |
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# - with usb |
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param set-default CBRK_USB_CHK 197848 |
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# - without real battery |
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param set-default CBRK_SUPPLY_CHK 894281 |
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# - without safety switch |
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param set-default COM_PREARM_MODE 0 |
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param set-default CBRK_IO_SAFETY 22027 |
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set MAV_TYPE 22 |
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set MIXER standard_vtol_hitl |
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set PWM_OUT 1234
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