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49 lines
1001 B
49 lines
1001 B
#!nsh |
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# |
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# @name Generic 250 Racer |
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# |
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# @type Quadrotor x |
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# @class Copter |
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# |
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# @maintainer Lorenz Meier <lorenz@px4.io> |
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# |
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sh /etc/init.d/4001_quad_x |
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if [ $AUTOCNF = yes ] |
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then |
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param set MC_ROLL_P 8.0 |
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param set MC_ROLLRATE_P 0.08 |
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param set MC_ROLLRATE_I 0.25 |
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param set MC_ROLLRATE_D 0.001 |
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param set MC_PITCH_P 8.0 |
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param set MC_PITCHRATE_P 0.08 |
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param set MC_PITCHRATE_I 0.25 |
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param set MC_PITCHRATE_D 0.001 |
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param set MC_YAW_P 4.0 |
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param set MC_YAWRATE_P 0.2 |
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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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param set MC_ROLLRATE_MAX 1600.0 |
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param set MC_PITCHRATE_MAX 1600.0 |
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param set MC_YAWRATE_MAX 1000.0 |
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param set MPC_MANTHR_MIN 0.0 |
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param set MPC_MAN_TILT_MAX 60 |
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# use thrust curve factor (instead of TPA) |
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param set THR_MDL_FAC 0.3 |
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param set PWM_MIN 1075 |
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# enable one-shot |
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param set PWM_RATE 0 |
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# enable high-rate logging profile (helps with tuning) |
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param set SDLOG_PROFILE 19 |
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# disable RC filtering |
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param set RC_FLT_CUTOFF 0.00000 |
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param set CBRK_IO_SAFETY 22027 |
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fi
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