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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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52 lines
1001 B
Plaintext
52 lines
1001 B
Plaintext
#!nsh
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#
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# @name Fun Cub Quad VTOL.
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#
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# @type Standard VTOL
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#
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# @maintainer Simon Wilks <simon@uaventure.com>
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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 MC_ROLL_P 7.0
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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 0.0
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param set MC_PITCH_P 7.0
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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 0.0
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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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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_AUX_RATE 50
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set PWM_AUX_OUT 1234
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set PWM_AUX_DISARMED 1000
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set PWM_AUX_MIN 1000
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set PWM_AUX_MAX 2000
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set MAV_TYPE 22
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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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