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31 lines
601 B
Plaintext
31 lines
601 B
Plaintext
#!nsh
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#
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# Team Blacksheep Discovery Quadcopter
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#
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# Anton Babushkin <anton@px4.io>, Simon Wilks <simon@px4.io>
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#
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sh /etc/init.d/rc.mc_defaults
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if [ $AUTOCNF == yes ]
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then
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# TODO review MC_YAWRATE_I
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param set MC_ROLL_P 8.0
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param set MC_ROLLRATE_P 0.07
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param set MC_ROLLRATE_I 0.05
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param set MC_ROLLRATE_D 0.0017
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param set MC_PITCH_P 8.0
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param set MC_PITCHRATE_P 0.1
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param set MC_PITCHRATE_I 0.1
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param set MC_PITCHRATE_D 0.0025
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param set MC_YAW_P 2.8
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param set MC_YAWRATE_P 0.28
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param set MC_YAWRATE_I 0.1
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param set MC_YAWRATE_D 0.0
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fi
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set MIXER quad_w
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set PWM_OUT 1234
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set PWM_MIN 1200
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