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101 lines
2.9 KiB
101 lines
2.9 KiB
#!/bin/sh |
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# |
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# @name 6DoF Omnicopter SITL |
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# |
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# @type Quadrotor Wide |
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# |
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# @maintainer Jaeyoung Lim <jalim@ethz.ch> |
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# |
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. ${R}etc/init.d/rc.mc_defaults |
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param set-default SYS_CTRL_ALLOC 1 |
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param set-default CA_AIRFRAME 0 |
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param set-default CA_ROTOR_COUNT 8 |
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param set-default CA_R_REV 255 |
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param set-default CA_ROTOR0_PX 0.14435 |
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param set-default CA_ROTOR0_PY -0.14435 |
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param set-default CA_ROTOR0_PZ -0.14435 |
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param set-default CA_ROTOR0_KM 0.05 # CCW |
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param set-default CA_ROTOR0_AX -0.788675 |
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param set-default CA_ROTOR0_AY -0.211325 |
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param set-default CA_ROTOR0_AZ -0.57735 |
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param set-default CA_ROTOR1_PX -0.14435 |
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param set-default CA_ROTOR1_PY -0.14435 |
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param set-default CA_ROTOR1_PZ -0.14435 |
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param set-default CA_ROTOR1_KM 0.05 |
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param set-default CA_ROTOR1_AX 0.211325 |
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param set-default CA_ROTOR1_AY -0.788675 |
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param set-default CA_ROTOR1_AZ 0.57735 |
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param set-default CA_ROTOR2_PX 0.14435 |
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param set-default CA_ROTOR2_PY 0.14435 |
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param set-default CA_ROTOR2_PZ -0.14435 |
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param set-default CA_ROTOR2_KM 0.05 |
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param set-default CA_ROTOR2_AX -0.211325 |
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param set-default CA_ROTOR2_AY 0.788675 |
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param set-default CA_ROTOR2_AZ 0.57735 |
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param set-default CA_ROTOR3_PX -0.14435 |
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param set-default CA_ROTOR3_PY 0.14435 |
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param set-default CA_ROTOR3_PZ -0.14435 |
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param set-default CA_ROTOR3_KM 0.05 |
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param set-default CA_ROTOR3_AX 0.788675 |
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param set-default CA_ROTOR3_AY 0.211325 |
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param set-default CA_ROTOR3_AZ -0.57735 |
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param set-default CA_ROTOR4_PX 0.14435 |
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param set-default CA_ROTOR4_PY -0.14435 |
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param set-default CA_ROTOR4_PZ 0.14435 |
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param set-default CA_ROTOR4_KM 0.05 |
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param set-default CA_ROTOR4_AX 0.788675 |
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param set-default CA_ROTOR4_AY 0.211325 |
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param set-default CA_ROTOR4_AZ -0.57735 |
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param set-default CA_ROTOR5_PX -0.14435 |
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param set-default CA_ROTOR5_PY -0.14435 |
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param set-default CA_ROTOR5_PZ 0.14435 |
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param set-default CA_ROTOR5_KM 0.05 |
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param set-default CA_ROTOR5_AX -0.211325 |
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param set-default CA_ROTOR5_AY 0.788675 |
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param set-default CA_ROTOR5_AZ 0.57735 |
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param set-default CA_ROTOR6_PX 0.14435 |
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param set-default CA_ROTOR6_PY 0.14435 |
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param set-default CA_ROTOR6_PZ 0.14435 |
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param set-default CA_ROTOR6_KM 0.05 |
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param set-default CA_ROTOR6_AX 0.211325 |
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param set-default CA_ROTOR6_AY -0.788675 |
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param set-default CA_ROTOR6_AZ 0.57735 |
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param set-default CA_ROTOR7_PX -0.14435 |
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param set-default CA_ROTOR7_PY 0.14435 |
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param set-default CA_ROTOR7_PZ 0.14435 |
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param set-default CA_ROTOR7_KM 0.05 |
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param set-default CA_ROTOR7_AX -0.788675 |
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param set-default CA_ROTOR7_AY -0.211325 |
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param set-default CA_ROTOR7_AZ -0.57735 |
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param set-default PWM_MAIN_FUNC1 101 |
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param set-default PWM_MAIN_FUNC2 102 |
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param set-default PWM_MAIN_FUNC3 103 |
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param set-default PWM_MAIN_FUNC4 104 |
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param set-default PWM_MAIN_FUNC5 105 |
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param set-default PWM_MAIN_FUNC6 106 |
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param set-default PWM_MAIN_FUNC7 107 |
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param set-default PWM_MAIN_FUNC8 108 |
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# disable MC desaturation which improves attitude tracking |
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param set-default CA_METHOD 0 |
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# disable attitude failure detection |
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param set-default FD_FAIL_P 0 |
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param set-default FD_FAIL_R 0 |
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set MIXER skip |
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set MIXER_AUX none
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