#!/bin/sh # # @name KTH Space Robot # # @type Space Robot # @class 2D Space Robot # # @maintainer DISCOWER # . ${R}etc/init.d/rc.sc_defaults param set-default CA_AIRFRAME 14 param set-default MAV_TYPE 99 param set-default CA_THRUSTER_CNT 8 param set-default CA_R_REV 0 # Auto to be provided by Custom Airframe param set-default CA_METHOD 0 # Set proper failsafes param set-default COM_ACT_FAIL_ACT 0 param set-default COM_LOW_BAT_ACT 0 param set-default NAV_DLL_ACT 0 param set-default GF_ACTION 1 param set-default NAV_RCL_ACT 1 param set-default COM_POSCTL_NAVL 2 # Set Mocap Vision frame param set EKF2_EV_CTRL 15 param set EKF2_HGT_REF 3 # disable attitude failure detection param set-default FD_FAIL_P 0 param set-default FD_FAIL_R 0 param set-default CA_THRUSTER0_PX -0.12 param set-default CA_THRUSTER0_PY -0.12 param set-default CA_THRUSTER0_PZ 0.0 param set-default CA_THRUSTER0_CT 1.4 param set-default CA_THRUSTER0_AX 1.0 param set-default CA_THRUSTER0_AY 0.0 param set-default CA_THRUSTER0_AZ 0.0 param set-default CA_THRUSTER1_PX 0.12 param set-default CA_THRUSTER1_PY -0.12 param set-default CA_THRUSTER1_PZ 0.0 param set-default CA_THRUSTER1_CT 1.4 param set-default CA_THRUSTER1_AX -1.0 param set-default CA_THRUSTER1_AY 0.0 param set-default CA_THRUSTER1_AZ 0.0 param set-default CA_THRUSTER2_PX -0.12 param set-default CA_THRUSTER2_PY 0.12 param set-default CA_THRUSTER2_PZ 0.0 param set-default CA_THRUSTER2_CT 1.4 param set-default CA_THRUSTER2_AX 1.0 param set-default CA_THRUSTER2_AY 0.0 param set-default CA_THRUSTER2_AZ 0.0 param set-default CA_THRUSTER3_PX 0.12 param set-default CA_THRUSTER3_PY 0.12 param set-default CA_THRUSTER3_PZ 0.0 param set-default CA_THRUSTER3_CT 1.4 param set-default CA_THRUSTER3_AX -1.0 param set-default CA_THRUSTER3_AY 0.0 param set-default CA_THRUSTER3_AZ 0.0 param set-default CA_THRUSTER4_PX 0.12 param set-default CA_THRUSTER4_PY -0.12 param set-default CA_THRUSTER4_PZ 0.0 param set-default CA_THRUSTER4_CT 1.4 param set-default CA_THRUSTER4_AX 0.0 param set-default CA_THRUSTER4_AY 1.0 param set-default CA_THRUSTER4_AZ 0.0 param set-default CA_THRUSTER5_PX 0.12 param set-default CA_THRUSTER5_PY 0.12 param set-default CA_THRUSTER5_PZ 0.0 param set-default CA_THRUSTER5_CT 1.4 param set-default CA_THRUSTER5_AX 0.0 param set-default CA_THRUSTER5_AY -1.0 param set-default CA_THRUSTER5_AZ 0.0 param set-default CA_THRUSTER6_PX -0.12 param set-default CA_THRUSTER6_PY -0.12 param set-default CA_THRUSTER6_PZ 0.0 param set-default CA_THRUSTER6_CT 1.4 param set-default CA_THRUSTER6_AX 0.0 param set-default CA_THRUSTER6_AY 1.0 param set-default CA_THRUSTER6_AZ 0.0 param set-default CA_THRUSTER7_PX -0.12 param set-default CA_THRUSTER7_PY 0.12 param set-default CA_THRUSTER7_PZ 0.0 param set-default CA_THRUSTER7_CT 1.4 param set-default CA_THRUSTER7_AX 0.0 param set-default CA_THRUSTER7_AY -1.0 param set-default CA_THRUSTER7_AZ 0.0 param set-default PWM_AUX_TIM0 10 param set-default PWM_AUX_TIM1 10 param set-default PWM_AUX_TIM2 10 param set-default PWM_AUX_FUNC1 101 param set-default PWM_AUX_FUNC2 102 param set-default PWM_AUX_FUNC3 103 param set-default PWM_AUX_FUNC4 104 param set-default PWM_AUX_FUNC5 105 param set-default PWM_AUX_FUNC6 106 param set-default PWM_AUX_FUNC7 107 param set-default PWM_AUX_FUNC8 108 param set-default PWM_AUX_DIS1 0 param set-default PWM_AUX_DIS2 0 param set-default PWM_AUX_DIS3 0 param set-default PWM_AUX_DIS4 0 param set-default PWM_AUX_DIS5 0 param set-default PWM_AUX_DIS6 0 param set-default PWM_AUX_DIS7 0 param set-default PWM_AUX_DIS8 0 param set-default PWM_AUX_MIN1 0 param set-default PWM_AUX_MIN2 0 param set-default PWM_AUX_MIN3 0 param set-default PWM_AUX_MIN4 0 param set-default PWM_AUX_MIN5 0 param set-default PWM_AUX_MIN6 0 param set-default PWM_AUX_MIN7 0 param set-default PWM_AUX_MIN8 0 # BOARD_PWM_FREQ is downscaled by 10, thus PWM value is given in 10s of usec param set-default PWM_AUX_MAX1 10000 param set-default PWM_AUX_MAX2 10000 param set-default PWM_AUX_MAX3 10000 param set-default PWM_AUX_MAX4 10000 param set-default PWM_AUX_MAX5 10000 param set-default PWM_AUX_MAX6 10000 param set-default PWM_AUX_MAX7 10000 param set-default PWM_AUX_MAX8 10000 # Controller Tunings param set-default SC_ROLLRATE_P 0.14 param set-default SC_PITCHRATE_P 0.14 param set-default SC_ROLLRATE_I 0.3 param set-default SC_PITCHRATE_I 0.3 param set-default SC_ROLLRATE_D 0.004 param set-default SC_PITCHRATE_D 0.004