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52 lines
1.0 KiB
52 lines
1.0 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_ARSP_MODE 1 |
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param set FW_AIRSPD_MAX 25 |
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param set FW_AIRSPD_MIN 14 |
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param set FW_AIRSPD_TRIM 16 |
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param set FW_L1_PERIOD 12 |
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param set MC_ROLLRATE_P 0.3 |
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param set MIS_LTRMIN_ALT 10 |
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param set MIS_TAKEOFF_ALT 10 |
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param set MIS_YAW_TMT 10 |
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param set MPC_ACC_HOR_MAX 2 |
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param set MPC_ACC_HOR_MAX 2 |
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param set MPC_THR_MIN 0.1 |
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param set MPC_TKO_SPEED 1 |
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param set MPC_XY_P 0.15 |
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param set MPC_XY_VEL_D_ACC 0.1 |
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param set MPC_XY_VEL_I_ACC 4 |
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param set MPC_XY_VEL_P_ACC 1 |
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param set MPC_Z_VEL_MAX_DN 1.5 |
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param set MPC_Z_VEL_P_ACC 16 |
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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_F_TRANS_DUR 5.0 |
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param set VT_F_TRANS_THR 0.75 |
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param set VT_FWD_THRUST_SC 1.1 |
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param set VT_TILT_FW 1 |
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param set VT_TILT_TRANS 0.6 |
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param set VT_ELEV_MC_LOCK 0 |
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param set VT_TYPE 1 |
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param set VT_B_TRANS_DUR 8 |
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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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