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81 lines
1.6 KiB
81 lines
1.6 KiB
#!/bin/sh |
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# |
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# @name Crazyflie 2.1 |
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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 Dennis Shtatov <densht@gmail.com> |
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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 intel_aerofc-v1 exclude |
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# |
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. ${R}etc/init.d/rc.mc_defaults |
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set MIXER quad_x_cw |
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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 SYS_MC_EST_GROUP 3 |
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param set SYS_HAS_MAG 0 |
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param set BAT_N_CELLS 1 |
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param set BAT1_N_CELLS 1 |
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param set BAT1_SOURCE 1 |
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param set CBRK_SUPPLY_CHK 894281 |
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param set CBRK_USB_CHK 197848 |
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param set COM_RC_IN_MODE 1 |
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param set IMU_GYRO_CUTOFF 100 |
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param set IMU_ACCEL_CUTOFF 30 |
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param set MC_AIRMODE 1 |
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param set IMU_DGYRO_CUTOFF 70 |
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param set MC_PITCHRATE_D 0.002 |
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param set MC_PITCHRATE_I 0.2 |
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param set MC_PITCHRATE_P 0.07 |
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param set MC_PITCH_P 6.5 |
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param set MC_ROLLRATE_D 0.002 |
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param set MC_ROLLRATE_I 0.2 |
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param set MC_ROLLRATE_P 0.07 |
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param set MC_ROLL_P 6.5 |
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param set MC_YAW_P 3 |
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param set MPC_THR_HOVER 0.7 |
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param set MPC_THR_MAX 1 |
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param set MPC_Z_P 1.5 |
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param set MPC_Z_VEL_P_ACC 8 |
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param set MPC_Z_VEL_I_ACC 6 |
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param set MPC_HOLD_MAX_XY 0.1 |
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param set MPC_MAX_FLOW_HGT 3 |
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#param set IMU_GYRO_NF_FREQ 10 |
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#param set IMU_GYRO_NF_BW 20 |
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param set NAV_RCL_ACT 3 |
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param set PWM_DISARMED 0 |
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param set PWM_MIN 0 |
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param set PWM_MAX 255 |
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# Run the motors at 328.125 kHz (recommended) |
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param set PWM_RATE 3921 |
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param set SDLOG_PROFILE 1 |
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param set SENS_FLOW_MINRNG 0.05 |
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fi |
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set PWM_DISARMED none |
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set PWM_MAX none |
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set PWM_MIN none |
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syslink start |
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mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
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