mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-28 16:33:33 +08:00
89 lines
2.8 KiB
Bash
89 lines
2.8 KiB
Bash
#!/bin/sh
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#
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# @name BlueROV2 (Heavy Configuration)
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#
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# @type Vectored 6 DOF UUV
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# @class Underwater Robot
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#
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# @output Motor1 motor 1 CCW, bow starboard horizontal, , propeller CCW
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# @output Motor2 motor 2 CCW, bow port horizontal, propeller CCW
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# @output Motor3 motor 3 CCW, stern starboard horizontal, propeller CW
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# @output Motor4 motor 4 CCW, stern port horizontal, propeller CW
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# @output Motor5 motor 5 CCW, bow starboard vertical, propeller CCW
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# @output Motor6 motor 6 CCW, bow port vertical, propeller CW
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# @output Motor7 motor 7 CCW, stern starboard vertical, propeller CW
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# @output Motor8 motor 8 CCW, stern port vertical, propeller CCW
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#
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# @maintainer Thies Lennart Alff <thies.lennart.alff@tuhh.de>
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#
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# @board px4_fmu-v2 exclude
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# @board bitcraze_crazyflie exclude
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#
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. ${R}etc/init.d/rc.uuv_defaults
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param set-default MAV_1_CONFIG 102
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param set-default BAT1_A_PER_V 37.8798
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param set-default BAT1_CAPACITY 18000
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param set-default BAT1_V_DIV 11
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param set-default BAT1_N_CELLS 4
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param set-default BAT_V_OFFS_CURR 0.33
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param set-default CA_AIRFRAME 7
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param set-default CA_ROTOR_COUNT 8
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param set-default CA_R_REV 255
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param set-default CA_ROTOR0_AX 1
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param set-default CA_ROTOR0_AY -1
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param set-default CA_ROTOR0_AZ 0
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param set-default CA_ROTOR0_KM 0
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param set-default CA_ROTOR0_PX 0.5
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param set-default CA_ROTOR0_PY 0.3
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param set-default CA_ROTOR0_PZ 0.2
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param set-default CA_ROTOR1_AX 1
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param set-default CA_ROTOR1_AY 1
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param set-default CA_ROTOR1_AZ 0
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param set-default CA_ROTOR1_KM 0
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param set-default CA_ROTOR1_PX 0.5
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param set-default CA_ROTOR1_PY -0.3
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param set-default CA_ROTOR1_PZ 0.2
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param set-default CA_ROTOR2_AX 1
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param set-default CA_ROTOR2_AY 1
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param set-default CA_ROTOR2_AZ 0
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param set-default CA_ROTOR2_KM 0
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param set-default CA_ROTOR2_PX -0.5
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param set-default CA_ROTOR2_PY 0.3
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param set-default CA_ROTOR2_PZ 0.2
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param set-default CA_ROTOR3_AX 1
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param set-default CA_ROTOR3_AY -1
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param set-default CA_ROTOR3_AZ 0
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param set-default CA_ROTOR3_KM 0
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param set-default CA_ROTOR3_PX -0.5
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param set-default CA_ROTOR3_PY -0.3
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param set-default CA_ROTOR3_PZ 0.2
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param set-default CA_ROTOR4_AZ -1
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param set-default CA_ROTOR4_KM 0
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param set-default CA_ROTOR4_PX 0.5
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param set-default CA_ROTOR4_PY 0.5
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param set-default CA_ROTOR5_AZ 1
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param set-default CA_ROTOR5_KM 0
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param set-default CA_ROTOR5_PX 0.5
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param set-default CA_ROTOR5_PY -0.5
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param set-default CA_ROTOR6_AZ 1
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param set-default CA_ROTOR6_KM 0
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param set-default CA_ROTOR6_PX -0.5
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param set-default CA_ROTOR6_PY 0.5
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param set-default CA_ROTOR7_KM 0
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param set-default CA_ROTOR7_PX -0.5
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param set-default CA_ROTOR7_PY -0.5
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param set-default PWM_MAIN_FUNC1 101
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param set-default PWM_MAIN_FUNC2 102
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param set-default PWM_MAIN_FUNC3 103
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param set-default PWM_MAIN_FUNC4 104
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param set-default PWM_MAIN_FUNC5 105
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param set-default PWM_MAIN_FUNC6 106
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param set-default PWM_MAIN_FUNC7 107
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param set-default PWM_MAIN_FUNC8 108
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