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f9794e99f8
* MC_HTE: unitialize with hover_thrust parameter * MC_HTE: constrain hover thrust setter between 0.1 and 0.9 * MC_HTE: integrate with land detector and velocity controller * MCHoverThrustEstimator: Always publish an estimate even when not fusing measurements. This is required as the land detector and the position controller need to receive a hover thrust value. * MC_HTE: use altitude agl threshold to start the estimator local_position.z is relative to the origin of the EKF while dist_bottom is above ground Co-authored-by: bresch <brescianimathieu@gmail.com>
36 lines
743 B
Plaintext
36 lines
743 B
Plaintext
uorb start
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qshell start
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param set SYS_AUTOSTART 4001
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param set MAV_TYPE 2
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param set MC_YAW_P 12
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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 0.001
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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 0.001
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param set SENS_BOARD_ROT 4
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sleep 1
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mpu9250 start
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bmp280 start
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rc_update start
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sensors start
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commander start
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ekf2 start
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land_detector start multicopter
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mc_hover_thrust_estimator start
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mc_pos_control start
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mc_att_control start
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mc_rate_control start
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uart_esc start -D /dev/tty-1
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spektrum_rc start -d /dev/tty-101
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sleep 1
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list_files
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list_tasks
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