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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-02 05:04:08 +08:00
69 lines
2.0 KiB
Bash
69 lines
2.0 KiB
Bash
#!/bin/sh
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#
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# @name Generic Dodecarotor cox geometry
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#
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# @type Dodecarotor cox
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# @class Copter
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#
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# @maintainer Ian McNanie <ianmcnanie@gmail.com>
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# @maintainer William Peale <develop707@gmail.com>
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#
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# @board bitcraze_crazyflie exclude
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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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param set-default NAV_ACC_RAD 2
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param set-default RTL_DESCEND_ALT 10
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param set-default RTL_RETURN_ALT 30
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param set-default CA_ROTOR_COUNT 12
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# Bottom motors
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param set-default CA_ROTOR0_PX 0
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param set-default CA_ROTOR0_PY 0.5
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param set-default CA_ROTOR0_PZ 0.05
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param set-default CA_ROTOR1_KM -0.05
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param set-default CA_ROTOR1_PX 0
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param set-default CA_ROTOR1_PY -0.5
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param set-default CA_ROTOR1_PZ 0.05
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param set-default CA_ROTOR2_PX 0.433
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param set-default CA_ROTOR2_PY -0.25
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param set-default CA_ROTOR2_PZ 0.05
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param set-default CA_ROTOR3_PX -0.433
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param set-default CA_ROTOR3_PY 0.25
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param set-default CA_ROTOR3_PZ 0.05
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param set-default CA_ROTOR3_KM -0.05
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param set-default CA_ROTOR4_PX 0.433
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param set-default CA_ROTOR4_PY 0.25
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param set-default CA_ROTOR4_PZ 0.05
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param set-default CA_ROTOR4_KM -0.05
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param set-default CA_ROTOR5_PX -0.344
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param set-default CA_ROTOR5_PY -0.25
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param set-default CA_ROTOR5_PZ 0.05
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# Top motors
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param set-default CA_ROTOR6_PX 0
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param set-default CA_ROTOR6_PY 0.5
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param set-default CA_ROTOR6_PZ -0.05
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param set-default CA_ROTOR6_KM -0.05
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param set-default CA_ROTOR7_PX 0
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param set-default CA_ROTOR7_PY -0.5
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param set-default CA_ROTOR7_PZ -0.05
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param set-default CA_ROTOR8_PX 0.433
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param set-default CA_ROTOR8_PY -0.25
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param set-default CA_ROTOR8_PZ -0.05
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param set-default CA_ROTOR8_KM -0.05
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param set-default CA_ROTOR9_PX -0.433
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param set-default CA_ROTOR9_PY 0.25
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param set-default CA_ROTOR9_PZ -0.05
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param set-default CA_ROTOR10_PX 0.433
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param set-default CA_ROTOR10_PY 0.25
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param set-default CA_ROTOR10_PZ -0.05
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param set-default CA_ROTOR11_PX -0.344
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param set-default CA_ROTOR11_PY -0.25
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param set-default CA_ROTOR11_PZ -0.05
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param set-default CA_ROTOR11_KM -0.05
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