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64 lines
1.4 KiB
64 lines
1.4 KiB
#!nsh |
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# |
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# @name Spedix S250AQ |
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# |
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# @board px4fmu-v1 exclude |
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# @board px4fmu-v2 exclude |
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# |
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# @type Quadrotor asymmetric |
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# |
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# @output MAIN1 motor1 (front right: CCW) |
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# @output MAIN2 motor2 (back left: CCW) |
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# @output MAIN3 motor3 (front left: CW) |
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# @output MAIN4 motor4 (back right: CW) |
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# |
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# @output MAIN5 feed-through of RC AUX1 channel |
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# @output MAIN6 feed-through of RC AUX2 channel |
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# |
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# @maintainer Mark Whitehorn <kd0aij@gmail.com> |
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# |
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sh /etc/init.d/rc.mc_defaults |
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set MIXER quad_s250aq |
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set MAV_TYPE 2 |
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set PWM_OUT 1234 |
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if [ $AUTOCNF == yes ] |
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then |
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param set MC_ROLL_P 8.0 |
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param set MC_ROLLRATE_P 0.19 |
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param set MC_ROLLRATE_I 0.1 |
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param set MC_ROLLRATE_D 0.0055 |
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param set MC_PITCH_P 8.0 |
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param set MC_PITCHRATE_P 0.19 |
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param set MC_PITCHRATE_I 0.1 |
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param set MC_PITCHRATE_D 0.0055 |
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param set MC_YAW_P 4.0 |
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param set MC_YAWRATE_P 0.2 |
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param set MC_YAWRATE_I 0.1 |
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param set MC_YAWRATE_D 0.0 |
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param set MC_YAW_FF 0.5 |
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param set MC_ROLLRATE_MAX 720.0 |
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param set MC_PITCHRATE_MAX 720.0 |
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param set MC_YAWRATE_MAX 400.0 |
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param set MC_ACRO_R_MAX 360.0 |
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param set MC_ACRO_P_MAX 360.0 |
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param set MC_TPA_BREAK_D 0.3 |
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param set MC_TPA_BREAK_I 1.0 |
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param set MC_TPA_BREAK_P 0.3 |
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param set MC_TPA_RATE_D 1.0 |
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param set MC_TPA_RATE_I 0.0 |
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param set MC_TPA_RATE_P 1.0 |
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param set PWM_MIN 1075 |
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param set MPC_THR_MIN 0.06 |
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param set MPC_MANTHR_MIN 0.06 |
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param set ATT_BIAS_MAX 0.0 |
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param set CBRK_IO_SAFETY 22027 |
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fi
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