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83 lines
1.7 KiB
83 lines
1.7 KiB
#!/bin/sh |
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# |
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# @name Intel Aero Ready to Fly Drone |
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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 Beat Kueng <beat@px4.io> |
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# |
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# @board px4_fmu-v2 exclude |
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# @board px4_fmu-v3 exclude |
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# @board px4_fmu-v4 exclude |
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# @board px4_fmu-v4pro exclude |
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# @board px4_fmu-v5 exclude |
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# @board px4_fmu-v5x 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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# |
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# Load default params for this platform |
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# |
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if [ $AUTOCNF = yes ] |
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then |
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# Set all params here, then disable autoconfig |
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param set EKF2_GPS_POS_X -0.06 |
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param set EKF2_GPS_POS_Z -0.1 |
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param set EKF2_MIN_OBS_DT 50 |
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param set EKF2_BARO_GATE 10 |
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param set EKF2_BARO_NOISE 5 |
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param set EKF2_ACC_NOISE 0.7 |
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param set LNDMC_Z_VEL_MAX 2 |
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param set MC_ROLL_P 8 |
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param set MC_ROLLRATE_P 0.13 |
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param set MC_ROLLRATE_I 0.07 |
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param set MC_ROLLRATE_D 0.0012 |
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param set MC_ROLLRATE_MAX 360 |
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param set MC_PITCH_P 8 |
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param set MC_PITCHRATE_P 0.13 |
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param set MC_PITCHRATE_I 0.07 |
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param set MC_PITCHRATE_D 0.0012 |
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param set MC_PITCHRATE_MAX 360 |
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param set MC_YAW_P 4 |
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param set MC_YAWRATE_P 0.12 |
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param set MC_YAWRATE_I 0.05 |
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param set MC_YAWRATE_D 0 |
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param set MPC_LAND_SPEED 0.7 |
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param set MPC_MANTHR_MIN 0.04 |
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param set MPC_THR_HOVER 0.5 |
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param set MPC_THR_MAX 0.94 |
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param set MPC_THR_MIN 0.1 |
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param set MPC_XY_CRUISE 8 |
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param set MPC_XY_P 1.5 |
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param set MPC_XY_VEL_P_ACC 3 |
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param set MPC_Z_P 1.5 |
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param set MPC_Z_VEL_P_ACC 16 |
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param set MPC_Z_VEL_I_ACC 3 |
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param set MPC_Z_VEL_MAX_DN 4 |
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param set MPC_Z_VEL_MAX_UP 5 |
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# TELEM2 config |
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param set MAV_1_CONFIG 102 |
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param set MAV_1_RATE 80000 |
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param set MAV_1_FORWARD 1 |
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param set SER_TEL2_BAUD 921600 |
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fi |
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if ! param greater SYS_HITL 0 |
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then |
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tap_esc start -d /dev/ttyS0 -n 4 |
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usleep 300000 |
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set OUTPUT_MODE tap_esc |
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fi |
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set MIXER quad_x |
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set USE_IO no |
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