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57 lines
1.3 KiB
57 lines
1.3 KiB
#!/bin/sh |
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# |
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# @name Blade 130X |
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# |
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# @type Helicopter |
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# @class Copter |
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# |
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# @maintainer Bart Slinger <bartslinger@gmail.com> |
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# |
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# @output MAIN1 main motor |
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# @output MAIN2 front swashplate servo |
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# @output MAIN3 right swashplate servo |
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# @output MAIN4 left swashplate servo |
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# @output MAIN5 tail-rotor servo |
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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.mc_defaults |
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# Configure as helicopter (number 4 defined in commander_helper.cpp) |
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set MAV_TYPE 4 |
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set MIXER blade130 |
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#set PWM_OUT 1234 |
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param set-default ATT_BIAS_MAX 0 |
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param set-default CBRK_IO_SAFETY 22027 |
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param set-default MC_ROLL_P 5 |
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param set-default MC_ROLLRATE_P 0 |
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param set-default MC_ROLLRATE_I 0 |
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param set-default MC_ROLLRATE_D 0 |
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param set-default MC_ROLLRATE_FF 0.15 |
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param set-default MC_PITCH_P 6.5 |
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param set-default MC_PITCHRATE_P 0 |
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param set-default MC_PITCHRATE_I 0 |
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param set-default MC_PITCHRATE_D 0 |
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param set-default MC_PITCHRATE_FF 0.15 |
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param set-default MC_YAW_P 3 |
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param set-default MC_YAWRATE_P 0.1 |
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param set-default MC_YAWRATE_I 0 |
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param set-default MC_YAWRATE_D 0 |
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param set-default MC_ROLLRATE_MAX 720 |
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param set-default MC_PITCHRATE_MAX 720 |
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param set-default MC_YAWRATE_MAX 400 |
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param set-default MC_ACRO_R_MAX 360 |
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param set-default MC_ACRO_P_MAX 360 |
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param set-default MPC_THR_MIN 0.06 |
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param set-default MPC_MANTHR_MIN 0.06 |
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param set-default PWM_MAIN_MIN 1075
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