2013-07-18 22:49:04 +02:00
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#!nsh
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2014-01-10 22:04:56 +01:00
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#
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2015-07-29 19:17:01 +02:00
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# @name 3DR Iris Quadrotor
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2014-01-10 22:04:56 +01:00
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#
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2015-07-29 19:17:01 +02:00
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# @type Quadrotor Wide
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#
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# @maintainer Anton Babushkin <anton@px4.io>
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2014-01-10 22:04:56 +01:00
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#
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2013-07-18 22:49:04 +02:00
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2014-02-07 22:28:42 +01:00
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sh /etc/init.d/rc.mc_defaults
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2014-11-17 17:10:47 +01:00
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if [ $AUTOCNF == yes ]
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2014-01-10 13:18:34 +01:00
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then
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2014-02-11 23:24:49 +01:00
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# TODO tune roll/pitch separately
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2014-03-10 18:48:07 +01:00
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param set MC_ROLL_P 7.0
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2015-08-30 22:42:28 +02:00
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param set MC_ROLLRATE_P 0.15
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2015-05-13 15:28:02 +02:00
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param set MC_ROLLRATE_I 0.05
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2014-02-11 23:24:49 +01:00
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param set MC_ROLLRATE_D 0.004
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2014-03-10 18:48:07 +01:00
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param set MC_PITCH_P 7.0
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2015-08-30 22:42:28 +02:00
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param set MC_PITCHRATE_P 0.15
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2015-05-13 15:28:02 +02:00
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param set MC_PITCHRATE_I 0.05
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2014-02-11 23:24:49 +01:00
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param set MC_PITCHRATE_D 0.004
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2014-04-28 17:26:42 +02:00
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param set MC_YAW_P 2.5
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param set MC_YAWRATE_P 0.25
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param set MC_YAWRATE_I 0.25
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2014-02-11 23:24:49 +01:00
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param set MC_YAWRATE_D 0.0
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2016-06-12 09:29:14 +02:00
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param set BAT_V_DIV 12.27559
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param set BAT_A_PER_V 15.39103
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2013-08-28 14:58:29 +02:00
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fi
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2014-01-10 22:04:56 +01:00
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2016-12-18 22:29:14 +01:00
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set MIXER quad_dc
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2014-01-10 22:04:56 +01:00
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2014-11-17 17:02:57 +01:00
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set PWM_OUT 1234
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