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34 lines
697 B
34 lines
697 B
#!nsh |
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# Maintainers: Lorenz Meier <lm@inf.ethz.ch> |
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echo "[init] PX4FMU v1, v2 with or without IO on DJI F450" |
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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 2.0 |
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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 0.3 |
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param set MC_YAWRATE_I 0.2 |
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param set MC_YAWRATE_D 0.005 |
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# TODO add default MPC parameters |
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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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