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65 lines
1.2 KiB
65 lines
1.2 KiB
#!nsh |
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# |
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# @name Traxxas stampede vxl 2wd |
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# |
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# @url https://traxxas.com/products/models/electric/stampede-vxl-tsm |
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# |
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# @type Rover |
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# @class Rover |
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# |
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# @output MAIN2 steering |
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# @output MAIN4 throttle |
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# |
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# @maintainer Marco Zorzi |
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# |
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# @board px4_fmu-v2 exclude |
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# |
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sh /etc/init.d/rc.ugv_defaults |
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if [ $AUTOCNF = yes ] |
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then |
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param set BAT_N_CELLS 7 |
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param set EKF2_GBIAS_INIT 0.01 |
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param set EKF2_ANGERR_INIT 0.01 |
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param set EKF2_MAG_TYPE 1 |
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param set FW_AIRSPD_MIN 0 |
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param set FW_AIRSPD_TRIM 1 |
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param set FW_AIRSPD_MAX 3 |
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param set GND_WR_P 2 |
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param set GND_WR_I 0.9674 |
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param set GND_WR_IMAX 0.1 |
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param set GND_WR_D 1.2 |
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param set GND_SP_CTRL_MODE 1 |
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param set GND_L1_DIST 10 |
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param set GND_THR_IDLE 0 |
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param set GND_THR_CRUISE 0 |
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param set GND_THR_MAX 0.5 |
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param set GND_THR_MIN 0 |
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param set GND_SPEED_P 0.25 |
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param set GND_SPEED_I 0.001 |
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param set GND_SPEED_D 3 |
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param set GND_SPEED_IMAX 0.125 |
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param set GND_SPEED_THR_SC 1 |
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param set MIS_LTRMIN_ALT 0.01 |
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param set MIS_TAKEOFF_ALT 0.01 |
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param set NAV_ACC_RAD 0.5 |
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# Provide ESC a constant 1500 us pulse |
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param set PWM_DISARMED 1500 |
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param set PWM_MAX 2000 |
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param set PWM_MIN 1000 |
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fi |
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# Configure this as ugv |
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set MAV_TYPE 10 |
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# Set mixer |
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set MIXER stampede |
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set PWM_MAIN_REV2 1
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