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83 lines
2.0 KiB
83 lines
2.0 KiB
#!nsh |
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# |
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# @name E-flite Convergence |
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# |
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# @type VTOL Tiltrotor |
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# @class VTOL |
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# |
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# @maintainer Andreas Antener <andreas@uaventure.com> |
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# |
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# @output MAIN1 Motor right |
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# @output MAIN2 Motor left |
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# @output MAIN3 Motor back |
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# @output MAIN4 empty |
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# @output MAIN5 Tilt servo right |
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# @output MAIN6 Tilt servo left |
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# @output MAIN7 Elevon right |
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# @output MAIN8 Elevon left |
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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_MOT_COUNT 3 |
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param set VT_FW_MOT_OFFID 3 |
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param set VT_IDLE_PWM_MC 1080 |
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param set VT_TYPE 1 |
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param set VT_B_TRANS_DUR 1.0 |
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param set VT_FW_DIFTHR_EN 1 |
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param set VT_FW_DIFTHR_SC 0.17 |
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param set VT_FW_PERM_STAB 0 |
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param set VT_F_TRANS_DUR 1.2 |
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param set VT_F_TR_OL_TM 4.0 |
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param set VT_TILT_FW 1.0 |
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param set VT_TILT_MC 0.0 |
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param set VT_TILT_TRANS 0.45 |
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param set VT_TRANS_MIN_TM 1.2 |
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param set VT_TRANS_P2_DUR 1.3 |
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param set FW_L1_PERIOD 17 |
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param set FW_MAN_R_MAX 50.0 |
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param set FW_ACRO_X_MAX 270 |
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param set FW_ACRO_Y_MAX 270 |
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param set FW_ACRO_Z_MAX 180 |
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param set FW_PR_FF 0.5 |
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param set FW_PR_P 0.08 |
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param set FW_PSP_OFF 5.0 |
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param set FW_P_LIM_MAX 30 |
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param set FW_P_LIM_MIN -30 |
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param set FW_P_RMAX_NEG 60 |
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param set FW_P_RMAX_POS 60 |
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param set FW_RR_FF 0.33 |
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param set FW_RR_P 0.11 |
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param set FW_YR_FF 0.3 |
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param set FW_YR_P 0.05 |
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param set MC_PITCHRATE_D 0.003 |
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param set MC_PITCHRATE_P 0.15 |
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param set MC_PITCH_P 6.0 |
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param set MC_ROLLRATE_D 0.003 |
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param set MC_ROLLRATE_P 0.15 |
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param set MC_ROLL_P 6.0 |
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param set MC_YAWRATE_MAX 120 |
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param set MC_YAWRATE_P 0.27 |
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param set MC_YAW_FF 0.35 |
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param set MC_YAW_P 2.5 |
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param set MC_YAWRATE_P 0.3 |
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param set MPC_LAND_SPEED 1.2 |
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param set MPC_TKO_SPEED 2.5 |
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param set MPC_Z_VEL_MAX_UP 3.0 |
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param set CBRK_AIRSPD_CHK 162128 |
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param set FW_ARSP_MODE 2 |
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param set SENS_BOARD_ROT 8 |
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fi |
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set MIXER vtol_convergence |
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set PWM_OUT 1234 |
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set PWM_RATE 400 |
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set MAV_TYPE 21
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