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56 lines
1.3 KiB
56 lines
1.3 KiB
#!/bin/sh |
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# |
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# @name S500 with control allocation |
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# |
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# @type Quadrotor x |
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# @class Copter |
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# |
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# @maintainer Silvan Fuhrer |
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# |
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# @board px4_fmu-v2 exclude |
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# |
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. ${R}etc/init.d/rc.mc_defaults |
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. ${R}etc/init.d/rc.ctrlalloc |
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param set-default MPC_USE_HTE 0 |
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param set-default VM_MASS 1.5 |
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param set-default VM_INERTIA_XX 0.03 |
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param set-default VM_INERTIA_YY 0.03 |
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param set-default VM_INERTIA_ZZ 0.05 |
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param set-default CA_AIRFRAME 0 |
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param set-default CA_METHOD 1 |
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param set-default CA_ACT0_MIN 0.0 |
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param set-default CA_ACT1_MIN 0.0 |
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param set-default CA_ACT2_MIN 0.0 |
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param set-default CA_ACT3_MIN 0.0 |
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param set-default CA_ACT0_MAX 1.0 |
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param set-default CA_ACT1_MAX 1.0 |
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param set-default CA_ACT2_MAX 1.0 |
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param set-default CA_ACT3_MAX 1.0 |
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param set-default CA_MC_R0_PX 0.177 |
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param set-default CA_MC_R0_PY 0.177 |
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param set-default CA_MC_R0_CT 6.5 |
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param set-default CA_MC_R0_KM 0.05 |
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param set-default CA_MC_R1_PX -0.177 |
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param set-default CA_MC_R1_PY -0.177 |
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param set-default CA_MC_R1_CT 6.5 |
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param set-default CA_MC_R1_KM 0.05 |
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param set-default CA_MC_R2_PX 0.177 |
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param set-default CA_MC_R2_PY -0.177 |
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param set-default CA_MC_R2_CT 6.5 |
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param set-default CA_MC_R2_KM -0.05 |
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param set-default CA_MC_R3_PX -0.177 |
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param set-default CA_MC_R3_PY 0.177 |
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param set-default CA_MC_R3_CT 6.5 |
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param set-default CA_MC_R3_KM -0.05 |
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set MIXER direct |
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set PWM_OUT 1234 |
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set MIXER_AUX direct_aux |
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set PWM_AUX_OUT 1234
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