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https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-22 01:12:31 +00:00
73 lines
1.7 KiB
Plaintext
73 lines
1.7 KiB
Plaintext
uorb start
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param set CAL_GYRO0_ID 2293760
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param set CAL_ACC0_ID 1310720
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param set CAL_ACC1_ID 1376256
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param set CAL_MAG0_ID 196608
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param set RC_RECEIVER_TYPE 1
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rc_receiver start -D /dev/tty-1
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attitude_estimator_q start
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position_estimator_inav start
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mc_pos_control start
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mc_att_control start
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sleep 1
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param set SYS_AUTOSTART 4001
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param set SYS_AUTOCONFIG 1
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param set MAV_TYPE 2
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param set RC_MAP_THROTTLE 1
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param set RC_MAP_ROLL 2
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param set RC_MAP_PITCH 3
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param set RC_MAP_YAW 4
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param set RC_MAP_MODE_SW 5
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param set RC_MAP_POSCTL_SW 6
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param set RC1_MAX 1900
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param set RC1_MIN 1099
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param set RC1_TRIM 1099
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param set RC1_REV 1
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param set RC2_MAX 1900
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param set RC2_MIN 1099
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param set RC2_TRIM 1500
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param set RC2_REV -1
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param set RC3_MAX 1900
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param set RC3_MIN 1099
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param set RC3_TRIM 1500
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param set RC3_REV 1
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param set RC4_MAX 1900
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param set RC4_MIN 1099
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param set RC4_TRIM 1500
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param set RC4_REV -1
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param set RC5_MAX 1900
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param set RC5_MIN 1099
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param set RC5_TRIM 1500
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param set RC5_REV 1
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param set RC6_MAX 1900
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param set RC6_MIN 1099
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param set RC6_TRIM 1099
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param set RC6_REV 1
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sensors start
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param set MC_YAW_P 7.0
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param set MC_YAWRATE_P 0.08
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param set MC_YAWRATE_I 0.0
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param set MC_YAWRATE_D 0
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param set MC_PITCH_P 7.0
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param set MC_PITCHRATE_P 0.08
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param set MC_PITCHRATE_I 0.0
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param set MC_PITCHRATE_D 0.0001
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param set MC_ROLL_P 7.0
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param set MC_ROLLRATE_P 0.08
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param set MC_ROLLRATE_I 0.0
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param set MC_ROLLRATE_D 0.0001
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param set ATT_W_MAG 0.00
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param set PE_MAG_NOISE 1.0f
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param set SENS_BOARD_ROT 0
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param set MPU_GYR_LPF_ENUM 4
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param set MPU_ACC_LPF_ENUM 4
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param set MPU_SMPRATE_ENUM 2
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sleep 1
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mpu9x50 start -D /dev/spi-1
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uart_esc start -D /dev/tty-2
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csr_gps start -D /dev/tty-3
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list_devices
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list_files
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list_tasks
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list_topics
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