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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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44 lines
1.3 KiB
Bash
44 lines
1.3 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 MAIN1 motor 1 CCW, bow starboard horizontal, , propeller CCW
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# @output MAIN2 motor 2 CCW, bow port horizontal, propeller CCW
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# @output MAIN3 motor 3 CCW, stern starboard horizontal, propeller CW
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# @output MAIN4 motor 4 CCW, stern port horizontal, propeller CW
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# @output MAIN5 motor 5 CCW, bow starboard vertical, propeller CCW
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# @output MAIN6 motor 6 CCW, bow port vertical, propeller CW
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# @output MAIN7 motor 7 CCW, stern starboard vertical, propeller CW
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# @output MAIN8 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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# disable circuit breaker for airspeed sensor
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param set-default CBRK_AIRSPD_CHK 162128
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# companion computer is connected via USB permanently
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param set-default CBRK_USB_CHK 197848
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param set-default CBRK_IO_SAFETY 22027
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param set-default COM_PREARM_MODE 0
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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 11.0
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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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set PWM_OUT 12345678
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# set MIXER IO_pass
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set MIXER vectored6dof
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