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83 lines
2.3 KiB
83 lines
2.3 KiB
#!/bin/sh |
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# |
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# @name Quadrotor + Tailsitter |
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# |
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# @type VTOL Quad Tailsitter |
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# |
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. ${R}etc/init.d/rc.vtol_defaults |
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param set-default MAV_TYPE 20 |
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# param set-default SYS_CTRL_ALLOC 1 |
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param set-default CA_AIRFRAME 4 |
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param set-default CA_ROTOR_COUNT 4 |
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param set-default CA_ROTOR0_PX 1 |
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param set-default CA_ROTOR0_PY 2 |
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param set-default CA_ROTOR0_KM 0.05 |
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param set-default CA_ROTOR1_PX -1 |
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param set-default CA_ROTOR1_PY -1 |
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param set-default CA_ROTOR1_KM 0.05 |
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param set-default CA_ROTOR2_PX 1 |
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param set-default CA_ROTOR2_PY -1 |
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param set-default CA_ROTOR2_KM -0.05 |
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param set-default CA_ROTOR3_PX -1 |
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param set-default CA_ROTOR3_PY 1 |
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param set-default CA_ROTOR3_KM -0.05 |
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param set-default CA_SV_CS_COUNT 2 |
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param set-default CA_SV_CS0_TYPE 5 |
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param set-default CA_SV_CS0_TRQ_P 0.5 |
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param set-default CA_SV_CS0_TRQ_Y -0.5 |
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param set-default CA_SV_CS1_TYPE 6 |
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param set-default CA_SV_CS1_TRQ_P 0.5 |
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param set-default CA_SV_CS1_TRQ_Y 0.5 |
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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 0 |
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param set-default PWM_MAIN_FUNC6 201 |
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param set-default PWM_MAIN_FUNC7 202 |
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param set-default PWM_MAIN_REV 96 # invert both elevons |
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param set-default FW_L1_PERIOD 12 |
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param set-default FW_MAN_P_MAX 30 |
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param set-default FW_PR_I 0.2 |
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param set-default FW_PR_P 0.2 |
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param set-default FW_PSP_OFF 2 |
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param set-default FW_P_LIM_MAX 32 |
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param set-default FW_P_LIM_MIN -15 |
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param set-default FW_RR_P 0.2 |
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param set-default FW_THR_CRUISE 0.33 |
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param set-default FW_THR_MAX 0.6 |
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param set-default FW_THR_MIN 0.05 |
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param set-default FW_T_ALT_TC 2 |
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param set-default FW_T_CLMB_MAX 8 |
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param set-default FW_T_HRATE_FF 0.5 |
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param set-default FW_T_SINK_MAX 2.7 |
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param set-default FW_T_SINK_MIN 2.2 |
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param set-default FW_T_TAS_TC 2 |
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param set-default MC_ROLLRATE_P 0.3 |
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param set-default MPC_ACC_HOR_MAX 2 |
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param set-default MPC_XY_P 0.8 |
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param set-default MPC_XY_VEL_P_ACC 3 |
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param set-default MPC_XY_VEL_I_ACC 4 |
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param set-default MPC_XY_VEL_D_ACC 0.1 |
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param set-default NAV_ACC_RAD 5 |
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param set-default VT_FW_DIFTHR_EN 1 |
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param set-default VT_FW_DIFTHR_SC 0.5 |
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param set-default VT_F_TRANS_DUR 1.5 |
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param set-default VT_F_TRANS_THR 0.7 |
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param set-default VT_TYPE 0 |
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param set-default WV_EN 0 |
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set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix |
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set MIXER custom
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