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50 lines
1004 B
Plaintext
50 lines
1004 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_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_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 1.0
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param set MPC_THR_MAX 1.0
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param set MPC_THR_MIN 0.1
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param set MPC_XY_P 1.0
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param set MPC_XY_VEL_D 0.01
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param set MPC_XY_VEL_I 0.02
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param set MPC_XY_VEL_MAX 5
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param set MPC_XY_VEL_P 0.1
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param set MPC_Z_P 1.0
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param set MPC_Z_VEL_D 0.0
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param set MPC_Z_VEL_I 0.02
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param set MPC_Z_VEL_MAX 3
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param set MPC_Z_VEL_P 0.1
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param set BAT_V_SCALING 0.00989
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param set BAT_C_SCALING 0.0124
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fi
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set VEHICLE_TYPE mc
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set MIXER FMU_quad_w
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set PWM_OUTPUTS 1234
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set PWM_RATE 400
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set PWM_DISARMED 900
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set PWM_MIN 1000
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set PWM_MAX 2000
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