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91 lines
2.6 KiB
91 lines
2.6 KiB
#!/bin/sh |
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# |
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# @name VTOL Tiltrotor |
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# |
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# @type VTOL Tiltrotor |
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# |
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. ${R}etc/init.d/rc.vtol_defaults |
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param set-default MAV_TYPE 21 |
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param set-default SYS_CTRL_ALLOC 1 |
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param set-default CA_AIRFRAME 3 |
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param set-default CA_ROTOR_COUNT 4 |
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param set-default CA_ROTOR0_PX 0.1515 |
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param set-default CA_ROTOR0_PY 0.245 |
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param set-default CA_ROTOR0_KM 0.05 |
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param set-default CA_ROTOR1_PX -0.1515 |
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param set-default CA_ROTOR1_PY -0.1875 |
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param set-default CA_ROTOR1_KM 0.05 |
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param set-default CA_ROTOR2_PX 0.1515 |
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param set-default CA_ROTOR2_PY -0.245 |
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param set-default CA_ROTOR2_KM -0.05 |
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param set-default CA_ROTOR3_PX -0.1515 |
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param set-default CA_ROTOR3_PY 0.1875 |
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param set-default CA_ROTOR3_KM -0.05 |
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param set-default CA_ROTOR0_TILT 1 |
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param set-default CA_ROTOR2_TILT 3 |
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param set-default CA_SV_CS0_TRQ_R -0.5 |
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param set-default CA_SV_CS0_TYPE 1 |
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param set-default CA_SV_CS1_TRQ_R 0.5 |
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param set-default CA_SV_CS1_TYPE 2 |
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param set-default CA_SV_CS2_TRQ_P 1.0 |
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param set-default CA_SV_CS2_TYPE 3 |
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param set-default CA_SV_CS_COUNT 3 |
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param set-default CA_SV_TL0_CT 0 |
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param set-default CA_SV_TL1_CT 0 |
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param set-default CA_SV_TL2_CT 0 |
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param set-default CA_SV_TL3_CT 0 |
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param set-default CA_SV_TL_COUNT 4 |
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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 204 |
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param set-default PWM_MAIN_FUNC6 205 |
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param set-default PWM_MAIN_FUNC7 206 |
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param set-default PWM_MAIN_FUNC8 207 |
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param set-default PWM_MAIN_FUNC9 201 |
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param set-default PWM_MAIN_FUNC10 202 |
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param set-default PWM_MAIN_FUNC11 203 |
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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_FF 0.2 |
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param set-default FW_PR_P 0.9 |
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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_FF 0.1 |
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param set-default FW_RR_P 0.3 |
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param set-default FW_THR_CRUISE 0.38 |
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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_CLMB_MAX 8 |
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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 MC_YAW_P 1.6 |
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param set-default MIS_TAKEOFF_ALT 10 |
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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_B_TRANS_DUR 8 |
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param set-default VT_FWD_THRUST_EN 4 |
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param set-default VT_MOT_ID 1234 |
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param set-default VT_TILT_TRANS 0.6 |
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param set-default VT_TYPE 1 |
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set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix |
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set MIXER custom
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