#!/bin/sh # # @name Generic Dodecarotor cox geometry # # @type Dodecarotor cox # @class Copter # # @maintainer Ian McNanie # @maintainer William Peale # # @board bitcraze_crazyflie exclude # @board px4_fmu-v2 exclude # . ${R}etc/init.d/rc.mc_defaults param set-default NAV_ACC_RAD 2 param set-default RTL_DESCEND_ALT 10 param set-default RTL_RETURN_ALT 30 param set-default CA_ROTOR_COUNT 12 # Bottom motors param set-default CA_ROTOR0_PX 0 param set-default CA_ROTOR0_PY 0.5 param set-default CA_ROTOR0_PZ 0.05 param set-default CA_ROTOR1_KM -0.05 param set-default CA_ROTOR1_PX 0 param set-default CA_ROTOR1_PY -0.5 param set-default CA_ROTOR1_PZ 0.05 param set-default CA_ROTOR2_PX 0.433 param set-default CA_ROTOR2_PY -0.25 param set-default CA_ROTOR2_PZ 0.05 param set-default CA_ROTOR3_PX -0.433 param set-default CA_ROTOR3_PY 0.25 param set-default CA_ROTOR3_PZ 0.05 param set-default CA_ROTOR3_KM -0.05 param set-default CA_ROTOR4_PX 0.433 param set-default CA_ROTOR4_PY 0.25 param set-default CA_ROTOR4_PZ 0.05 param set-default CA_ROTOR4_KM -0.05 param set-default CA_ROTOR5_PX -0.344 param set-default CA_ROTOR5_PY -0.25 param set-default CA_ROTOR5_PZ 0.05 # Top motors param set-default CA_ROTOR6_PX 0 param set-default CA_ROTOR6_PY 0.5 param set-default CA_ROTOR6_PZ -0.05 param set-default CA_ROTOR6_KM -0.05 param set-default CA_ROTOR7_PX 0 param set-default CA_ROTOR7_PY -0.5 param set-default CA_ROTOR7_PZ -0.05 param set-default CA_ROTOR8_PX 0.433 param set-default CA_ROTOR8_PY -0.25 param set-default CA_ROTOR8_PZ -0.05 param set-default CA_ROTOR8_KM -0.05 param set-default CA_ROTOR9_PX -0.433 param set-default CA_ROTOR9_PY 0.25 param set-default CA_ROTOR9_PZ -0.05 param set-default CA_ROTOR10_PX 0.433 param set-default CA_ROTOR10_PY 0.25 param set-default CA_ROTOR10_PZ -0.05 param set-default CA_ROTOR11_PX -0.344 param set-default CA_ROTOR11_PY -0.25 param set-default CA_ROTOR11_PZ -0.05 param set-default CA_ROTOR11_KM -0.05