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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 17:23:33 +08:00
53 lines
1.0 KiB
Bash
53 lines
1.0 KiB
Bash
#!/bin/sh
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#
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# @name Generic AAVVT v-tail plane airframe with Quad VTOL.
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#
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# @type Standard VTOL
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# @class VTOL
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#
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# @maintainer Sander Smeets <sander@droneslab.com>
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#
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# @board intel_aerofc-v1 exclude
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# @board bitcraze_crazyflie exclude
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#
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. ${R}etc/init.d/rc.vtol_defaults
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if [ $AUTOCNF = yes ]
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then
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param set MC_ROLL_P 7
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param set MC_ROLLRATE_P 0.15
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param set MC_ROLLRATE_I 0.002
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param set MC_ROLLRATE_D 0.003
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param set MC_ROLLRATE_FF 0
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param set MC_PITCH_P 7
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param set MC_PITCHRATE_P 0.12
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param set MC_PITCHRATE_I 0.002
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param set MC_PITCHRATE_D 0.003
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param set MC_PITCHRATE_FF 0
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param set MC_YAW_P 2.8
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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
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param set MC_YAWRATE_FF 0
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param set MC_YAWRATE_MAX 40
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param set MPC_YAWRAUTO_MAX 40
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param set PWM_AUX_DIS5 950
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param set PWM_RATE 400
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param set VT_F_TRANS_THR 0.75
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param set VT_MOT_ID 1234
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param set VT_FW_MOT_OFFID 1234
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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 MAV_TYPE 22
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set MIXER quad_x
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set MIXER_AUX vtol_AAVVT
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set PWM_OUT 1234
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