mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-13 13:41:35 +08:00
60 lines
2.3 KiB
Bash
60 lines
2.3 KiB
Bash
#!/bin/sh
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#
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# @name RC Boat
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#
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# @type Boat
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# @class Boat
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#
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# @output Servo1 Steering
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# @output Motor1 Throttle
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. ${R}etc/init.d/rc.boat_defaults
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# Failsafe
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param set-default NAV_RCL_ACT 6 # Disarm on stick input loss
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param set-default NAV_DLL_ACT 6 # Disarm on ground station loss
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param set-default COM_DL_LOSS_T 5 # timeout for ground station connection
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param set-default COM_RC_LOSS_T 10 # timeout for stick input
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param set-default COM_RCL_EXCEPT 1 # Continue mission without stick input
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param set-default COM_ARM_WO_GPS 1 # Disable GPS prearm check
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param set-default COM_DISARM_LAND -1 # Don't disarm automatically
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param set-default COM_DISARM_PRFLT -1
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# Steering PWM output
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param set-default PWM_AUX_FUNC1 201
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param set-default PWM_AUX_DIS1 1500
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param set-default PWM_AUX_MIN1 1000
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param set-default PWM_AUX_MAX1 2000
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# Engine throttle PWM output
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param set-default PWM_AUX_FUNC2 101
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param set-default PWM_AUX_DIS2 900
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param set-default PWM_AUX_MIN2 940 # Engine doesn't rev below that
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param set-default PWM_AUX_MAX2 2000 # Maximum trhottle at which it's not so easy to flip the boat
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param set-default CA_AIRFRAME 5
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# Estimation
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param set-default EKF2_MULTI_IMU 0 # Disable multi-IMU
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param set-default SENS_IMU_MODE 1
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param set-default CAL_MAG0_PRIO 0 # Disable internal Magnetometer
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param set-default MBE_ENABLE 0 # Disable online mag calibration when disarmed
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param set-default EKF2_GPS_CTRL 15 # Enable GPS heading fusion
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param set-default SENS_GPS_MASK 0 # Disable multi-GPS blending
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# Estimation workarounds, should be double-checked if necessary
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param set-default EKF2_GBIAS_INIT 0.01
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param set-default EKF2_SYNT_MAG_Z 1 # Why? Who said magnetometer Z is not usable?
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param set-default EKF2_GPS_V_NOISE 0.751 # Lower certainty for GPS
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param set-default EKF2_GPS_POS_X 2.5 # GPS position, accurate?
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param set-default EKF2_REQ_EPV 10 # Accept GPS easier
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param set-default EKF2_REQ_HDRIFT 1
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param set-default EKF2_REQ_SACC 2
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param set-default EKF2_REQ_VDRIFT 20
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param set-default EKF2_MAG_CHK_STR 0.5 # Accept mag easier
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param set-default COM_ARM_MAG_STR 0 # Disable magnetic field strength prearm check
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param set-default COM_ARM_MAG_ANG 360 # Disable internal/external magnetometer consistency check
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param set-default EKF2_ABL_LIM 1 # Higher accelerometer bias limit, was sometimes above the threshold, GPS reporting 0 altitude issue?
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