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41 lines
791 B
Plaintext
41 lines
791 B
Plaintext
#!nsh
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#
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# ARDrone
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#
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# Just use the default multicopter settings.
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sh /etc/init.d/rc.mc_defaults
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#
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# Load default params for this platform
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#
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if param compare SYS_AUTOCONFIG 1
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then
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# Set all params here, then disable autoconfig
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param set MC_ATTRATE_D 0
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param set MC_ATTRATE_I 0
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param set MC_ATTRATE_P 0.13
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param set MC_ATT_D 0
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param set MC_ATT_I 0.3
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param set MC_ATT_P 5
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param set MC_YAWPOS_D 0.1
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param set MC_YAWPOS_I 0.15
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param set MC_YAWPOS_P 1
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param set MC_YAWRATE_D 0
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param set MC_YAWRATE_I 0
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param set MC_YAWRATE_P 0.15
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param set SYS_AUTOCONFIG 0
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param save
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fi
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set FMU_MODE gpio
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#
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# Force some key parameters to sane values
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# MAV_TYPE 2 = quadrotor
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#
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set MAV_TYPE 2
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set VEHICLE_TYPE mc
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param set BAT_V_SCALING 0.008381
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