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30 lines
605 B
30 lines
605 B
#!nsh |
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# |
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# Team Blacksheep Discovery Quadcopter |
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# |
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# Anton Babushkin <anton@px4.io>, Simon Wilks <simon@px4.io> |
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# |
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sh /etc/init.d/rc.mc_defaults |
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if [ $AUTOCNF == yes ] |
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then |
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# TODO review MC_YAWRATE_I |
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param set MC_ROLL_P 8.0 |
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param set MC_ROLLRATE_P 0.07 |
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param set MC_ROLLRATE_I 0.05 |
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param set MC_ROLLRATE_D 0.0017 |
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param set MC_PITCH_P 8.0 |
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param set MC_PITCHRATE_P 0.1 |
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param set MC_PITCHRATE_I 0.1 |
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param set MC_PITCHRATE_D 0.0025 |
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param set MC_YAW_P 2.8 |
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param set MC_YAWRATE_P 0.28 |
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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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fi |
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set MIXER FMU_quad_w |
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set PWM_OUT 1234 |
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set PWM_MIN 1200
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