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76 lines
1.5 KiB
76 lines
1.5 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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sh /etc/init.d/rc.vtol_defaults |
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if [ $AUTOCNF = yes ] |
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then |
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param set BAT_N_CELLS 3 |
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param set COM_DISARM_LAND 5 |
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param set COM_RC_IN_MODE 1 |
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param set EKF2_AID_MASK 1 |
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param set EKF2_ANGERR_INIT 0.01 |
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param set EKF2_GBIAS_INIT 0.01 |
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param set EKF2_HGT_MODE 0 |
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param set EKF2_MAG_TYPE 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 MC_PITCH_P 6 |
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param set MC_PITCHRATE_P 0.2 |
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param set MC_ROLL_P 6 |
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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 0.8 |
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param set MPC_XY_VEL_D 0.005 |
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param set MPC_XY_VEL_I 0.2 |
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param set MPC_XY_VEL_P 0.15 |
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param set MPC_Z_VEL_I 0.15 |
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param set MPC_Z_VEL_MAX_DN 1.5 |
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param set MPC_Z_VEL_P 0.6 |
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param set NAV_ACC_RAD 5 |
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param set NAV_DLL_ACT 2 |
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param set NAV_LOITER_RAD 80 |
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param set RTL_DESCEND_ALT 10 |
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param set RTL_LAND_DELAY 0 |
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param set RTL_RETURN_ALT 30 |
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param set SDLOG_DIRS_MAX 7 |
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param set SYS_MC_EST_GROUP 2 |
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param set SYS_RESTART_TYPE 2 |
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param set VT_F_TRANS_THR 0.75 |
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param set VT_MOT_COUNT 4 |
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param set VT_TYPE 2 |
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# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10 |
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param set V19_VT_ROLLDIR 0 |
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fi |
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param set SYS_HITL 1 |
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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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