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64 lines
1.4 KiB
64 lines
1.4 KiB
#!nsh |
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# |
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# HIL Malolo 1 (Flightgear) |
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# |
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# Thomas Gubler <thomasgubler@gmail.com> |
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# |
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echo "HIL Malolo 1 starting.." |
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if [ $DO_AUTOCONFIG == yes ] |
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then |
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# Set all params here, then disable autoconfig |
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param set FW_AIRSPD_MIN 12 |
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param set FW_AIRSPD_TRIM 25 |
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param set FW_ATT_TC 0.3 |
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param set FW_L1_DAMPING 0.74 |
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param set FW_L1_PERIOD 15 |
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param set FW_PR_FF 0.8 |
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param set FW_PR_I 0.05 |
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param set FW_PR_IMAX 0.2 |
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param set FW_PR_P 0.1 |
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param set FW_P_LIM_MAX 45 |
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param set FW_P_LIM_MIN -45 |
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param set FW_P_RMAX_NEG 0 |
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param set FW_P_RMAX_POS 0 |
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param set FW_P_ROLLFF 0 |
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param set FW_RR_FF 0.6 |
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param set FW_RR_I 0.02 |
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param set FW_RR_IMAX 0.2 |
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param set FW_RR_P 0.1 |
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param set FW_R_LIM 45 |
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param set FW_R_RMAX 0 |
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param set FW_THR_CRUISE 0.6 |
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param set FW_THR_MAX 1 |
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param set FW_THR_MIN 0 |
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param set FW_T_CLMB_MAX 5 |
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param set FW_T_HRATE_P 0.02 |
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param set FW_T_PTCH_DAMP 0 |
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param set FW_T_RLL2THR 15 |
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param set FW_T_SINK_MAX 5 |
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param set FW_T_SINK_MIN 2 |
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param set FW_T_SRATE_P 0.01 |
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param set FW_T_TIME_CONST 3 |
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param set FW_T_VERT_ACC 7 |
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param set FW_YCO_VMIN 1000 |
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param set FW_YR_FF 0.0 |
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param set FW_YR_I 0 |
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param set FW_YR_IMAX 0.2 |
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param set FW_YR_P 0.0 |
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param set FW_Y_RMAX 0 |
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param set NAV_LAND_ALT 90 |
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param set NAV_RTL_ALT 100 |
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param set NAV_RTL_LAND_T -1 |
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param set SYS_AUTOCONFIG 0 |
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param save |
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fi |
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set HIL yes |
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set VEHICLE_TYPE fw |
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# Set the AERT mixer for HIL (even if the malolo is a flying wing) |
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set MIXER FMU_AERT
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