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53 lines
983 B
53 lines
983 B
#!/bin/sh |
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# |
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# @name ZMR250 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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# @board px4_fmu-v2 exclude |
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# |
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# @maintainer Anton Matosov <anton.matosov@gmail.com> |
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# |
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sh /etc/init.d/rc.mc_defaults |
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set MIXER zmr250 |
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set PWM_OUT 1234 |
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if [ $AUTOCNF = yes ] |
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then |
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param set CBRK_IO_SAFETY 22027 |
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param set FAILSAFE 100 |
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param set MC_ROLL_P 2.2 |
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param set MC_ROLLRATE_P 0.06 |
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param set MC_ROLLRATE_I 0.2 |
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param set MC_ROLLRATE_D 0.0017 |
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param set MC_PITCH_P 2.2 |
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param set MC_PITCHRATE_P 0.06 |
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param set MC_PITCHRATE_I 0.2 |
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param set MC_PITCHRATE_D 0.0017 |
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param set MC_YAW_P 1 |
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param set MC_YAWRATE_P 0.15 |
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param set MC_YAWRATE_I 0.2 |
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param set MC_YAWRATE_D 0 |
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param set MC_ACRO_R_MAX 1000 |
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param set MC_ACRO_P_MAX 1000 |
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param set MC_ACRO_Y_MAX 1000 |
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param set MC_TPA_BREAK_P 0.5 |
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param set MC_TPA_BREAK_D 0.7 |
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param set MC_TPA_RATE_P 0.5 |
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param set MC_TPA_RATE_D 0.5 |
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# param set NAV_RCL_ACT 6 # Lockdown |
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param set PWM_MIN 1075 |
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param set PWM_RATE 400 |
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param set PWM_DISARMED 900 |
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fi
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