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47 lines
951 B
Plaintext
47 lines
951 B
Plaintext
#!nsh
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#
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# 3DR Iris Quadcopter
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#
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# Maintainers: Anton Babushkin <anton.babushkin@me.com>
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#
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if [ $DO_AUTOCONFIG == yes ]
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then
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#
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# Default parameters for this platform
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#
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param set MC_ATT_P 9.0
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param set MC_ATT_I 0.0
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param set MC_ATT_D 0.0
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param set MC_ATTRATE_P 0.13
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param set MC_ATTRATE_I 0.0
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param set MC_ATTRATE_D 0.004
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param set MC_YAWPOS_P 0.5
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param set MC_YAWPOS_I 0.15
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param set MC_YAWPOS_D 0.0
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param set MC_YAWRATE_P 0.2
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param set MC_YAWRATE_I 0.0
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param set MC_YAWRATE_D 0.0
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param set MPC_TILT_MAX 0.5
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param set MPC_THR_MAX 0.8
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param set MPC_THR_MIN 0.2
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param set MPC_XY_D 0
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param set MPC_XY_P 0.5
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param set MPC_XY_VEL_D 0
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param set MPC_XY_VEL_I 0
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param set MPC_XY_VEL_MAX 3
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param set MPC_XY_VEL_P 0.2
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param set MPC_Z_D 0
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param set MPC_Z_P 1
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param set MPC_Z_VEL_D 0
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param set MPC_Z_VEL_I 0.1
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param set MPC_Z_VEL_MAX 2
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param set MPC_Z_VEL_P 0.20
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fi
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set VEHICLE_TYPE mc
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set FRAME_GEOMETRY quad_w
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set PWM_RATE 400
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