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37 lines
710 B
Plaintext
37 lines
710 B
Plaintext
#!nsh
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set VEHICLE_TYPE fw
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if [ $AUTOCNF == yes ]
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then
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#
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# Default parameters for FW
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#
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param set EKF2_ARSP_THR 8.0
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param set EKF2_FUSE_BETA 0
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param set EKF2_MAG_ACCLIM 0
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param set EKF2_MAG_YAWLIM 0
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param set RTL_RETURN_ALT 100
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param set RTL_DESCEND_ALT 100
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param set RTL_LAND_DELAY -1
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# FW uses L1 distance for acceptance radius
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# set a smaller NAV_ACC_RAD for vertical acceptance distance
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param set NAV_ACC_RAD 10
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param set MIS_LTRMIN_ALT 25
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param set MIS_TAKEOFF_ALT 25
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param set PWM_RATE 50
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# FW takeoff acceleration can easily exceed ublox GPS 2G default
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param set GPS_UBX_DYNMODEL 8
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fi
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# This is the gimbal pass mixer
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set MIXER_AUX pass
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set PWM_AUX_RATE 50
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set PWM_AUX_OUT 1234
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