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50 lines
956 B
50 lines
956 B
#!nsh |
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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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sh /etc/init.d/rc.vtol_defaults |
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if [ $AUTOCNF == yes ] |
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then |
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param set MAV_TYPE 21 |
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param set FW_AIRSPD_MAX 25 |
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param set FW_AIRSPD_MIN 14 |
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param set FW_AIRSPD_TRIM 16 |
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param set MC_ROLLRATE_P 0.3 |
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param set MIS_LTRMIN_ALT 10 |
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param set MIS_TAKEOFF_ALT 10 |
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param set MIS_YAW_TMT 10 |
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param set MPC_ACC_HOR_MAX 2 |
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param set MPC_ACC_HOR_MAX 2.0 |
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param set MPC_THR_MIN 0.1 |
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param set MPC_TKO_SPEED 1.0 |
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param set MPC_XY_P 0.15 |
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param set MPC_XY_VEL_D 0.005 |
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param set MPC_XY_VEL_I 0.2 |
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param set MPC_XY_VEL_P 0.05 |
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param set MPC_Z_VEL_MAX_DN 1.5 |
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param set MPC_Z_VEL_P 0.8 |
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param set NAV_ACC_RAD 5.0 |
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param set NAV_LOITER_RAD 80 |
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param set VT_F_TRANS_DUR 1.5 |
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param set VT_F_TRANS_THR 0.75 |
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param set VT_MOT_COUNT 4 |
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param set VT_TILT_FW 3.1415 |
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param set VT_TILT_TRANS 1.2 |
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param set VT_TYPE 1 |
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param set WEST_EN 1 |
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fi |
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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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