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69 lines
1.5 KiB
69 lines
1.5 KiB
#!nsh |
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# |
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# @name Fun Cub Quad VTOL |
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# @type Standard VTOL |
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# @maintainer Simon Wilks <simon@uaventure.com> |
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# @output MAIN1 Front right motor: CCW |
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# @output MAIN2 Back left motor: CCW |
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# @output MAIN3 Front left motor: CW |
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# @output MAIN4 Back right motor: CW |
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# @output AUX1 Aileron 1 |
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# @output AUX2 Aileron 2 |
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# @output AUX3 Elevator |
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# @output AUX4 Rudder |
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# @output AUX5 Throttle |
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# |
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sh /etc/init.d/rc.vtol_defaults |
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if [ $AUTOCNF == yes ] |
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then |
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param set VT_TYPE 2 |
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param set VT_MOT_COUNT 4 |
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param set VT_TRANS_THR 0.75 |
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param set VT_ARSP_TRANS 12 |
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param set VT_ARSP_BLEND 6 |
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param set MC_ROLL_P 6.0 |
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param set MC_ROLLRATE_P 0.17 |
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param set MC_ROLLRATE_I 0.002 |
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param set MC_ROLLRATE_D 0.004 |
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param set MC_ROLLRATE_FF 0.0 |
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param set MC_PITCH_P 6.0 |
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param set MC_PITCHRATE_P 0.19 |
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param set MC_PITCHRATE_I 0.002 |
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param set MC_PITCHRATE_D 0.004 |
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param set MC_PITCHRATE_FF 0.0 |
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param set MC_YAW_P 2.8 |
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param set MC_YAW_FF 0.5 |
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param set MC_YAWRATE_P 0.22 |
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param set MC_YAWRATE_I 0.02 |
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param set MC_YAWRATE_D 0.0 |
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param set MC_YAWRATE_FF 0.0 |
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param set MC_YAWRATE_MAX 40 |
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param set MC_YAWRAUTO_MAX 40 |
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param set FW_PR_FF 0.5 |
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param set FW_PR_I 0.02 |
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param set FW_PR_IMAX 0.4 |
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param set FW_PR_P 0.08 |
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param set FW_RR_FF 0.6 |
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param set FW_RR_I 0.01 |
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param set FW_RR_IMAX 0.2 |
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param set FW_RR_P 0.05 |
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param set FW_THR_CRUISE 0.75 |
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param set VT_MOT_COUNT 4 |
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param set VT_IDLE_PWM_MC 1080 |
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param set VT_TYPE 2 |
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fi |
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set MIXER vtol_quad_x |
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set PWM_OUT 1234 |
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set PWM_RATE 400 |
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set MIXER_AUX vtol_AAERT |
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set PWM_ACHDIS 5 |
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set PWM_AUX_DISARMED 950 |
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set MAV_TYPE 22
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