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34 lines
653 B
34 lines
653 B
#!nsh |
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# |
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# @name 3DR Iris Quadrotor |
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# |
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# @type Quadrotor Wide |
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# |
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# @maintainer Anton Babushkin <anton@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 tune roll/pitch separately |
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param set MC_ROLL_P 7.0 |
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param set MC_ROLLRATE_P 0.15 |
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param set MC_ROLLRATE_I 0.05 |
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param set MC_ROLLRATE_D 0.004 |
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param set MC_PITCH_P 7.0 |
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param set MC_PITCHRATE_P 0.15 |
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param set MC_PITCHRATE_I 0.05 |
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param set MC_PITCHRATE_D 0.004 |
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param set MC_YAW_P 2.5 |
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param set MC_YAWRATE_P 0.25 |
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param set MC_YAWRATE_I 0.25 |
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param set MC_YAWRATE_D 0.0 |
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param set BAT_V_DIV 12.27559 |
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param set BAT_A_PER_V 15.39103 |
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fi |
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set MIXER quad_dc |
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set PWM_OUT 1234
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