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48 lines
1.0 KiB
48 lines
1.0 KiB
#!nsh |
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# Maintainers: Anton Babushkin <anton.babushkin@me.com> |
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echo "[init] PX4FMU v1, v2 with or without IO on DJI F330" |
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# Use generic quad X PWM as base |
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sh /etc/init.d/4001_quad_x_pwm |
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if [ $DO_AUTOCONFIG == yes ] |
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then |
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# |
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# Default parameters for this platform |
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# |
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param set MC_ATT_P 7.0 |
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param set MC_ATT_I 0.0 |
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param set MC_ATT_D 0.0 |
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param set MC_ATTRATE_P 0.12 |
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param set MC_ATTRATE_I 0.0 |
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param set MC_ATTRATE_D 0.004 |
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param set MC_YAWPOS_P 2.8 |
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param set MC_YAWPOS_I 0.0 |
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param set MC_YAWPOS_D 0.0 |
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param set MC_YAWRATE_P 0.2 |
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param set MC_YAWRATE_I 0.05 |
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param set MC_YAWRATE_D 0.0 |
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param set MPC_TILT_MAX 0.5 |
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param set MPC_THR_MAX 0.8 |
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param set MPC_THR_MIN 0.2 |
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param set MPC_XY_D 0 |
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param set MPC_XY_P 0.5 |
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param set MPC_XY_VEL_D 0 |
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param set MPC_XY_VEL_I 0 |
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param set MPC_XY_VEL_MAX 3 |
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param set MPC_XY_VEL_P 0.2 |
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param set MPC_Z_D 0 |
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param set MPC_Z_P 1 |
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param set MPC_Z_VEL_D 0 |
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param set MPC_Z_VEL_I 0.1 |
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param set MPC_Z_VEL_MAX 2 |
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param set MPC_Z_VEL_P 0.20 |
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fi |
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# DJI ESC range |
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set PWM_DISARMED 900 |
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set PWM_MIN 1200 |
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set PWM_MAX 1900
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