#!/bin/sh # # @name BlueROV2 (Heavy Configuration) # # @type Vectored 6 DOF UUV # @class Underwater Robot # # @output Motor1 motor 1 CCW, bow starboard horizontal, , propeller CCW # @output Motor2 motor 2 CCW, bow port horizontal, propeller CCW # @output Motor3 motor 3 CCW, stern starboard horizontal, propeller CW # @output Motor4 motor 4 CCW, stern port horizontal, propeller CW # @output Motor5 motor 5 CCW, bow starboard vertical, propeller CCW # @output Motor6 motor 6 CCW, bow port vertical, propeller CW # @output Motor7 motor 7 CCW, stern starboard vertical, propeller CW # @output Motor8 motor 8 CCW, stern port vertical, propeller CCW # # @maintainer Thies Lennart Alff # # @board px4_fmu-v2 exclude # @board bitcraze_crazyflie exclude # . ${R}etc/init.d/rc.uuv_defaults # param set-default MAV_1_CONFIG 102 param set-default BAT1_A_PER_V 37.8798 param set-default BAT1_CAPACITY 18000 param set-default BAT1_V_DIV 11 param set-default BAT1_N_CELLS 4 param set-default BAT_V_OFFS_CURR 0.33 # Set parameters using `param` utility for SITL param set-default CA_AIRFRAME 7 param set-default CA_METHOD 0 param set-default MAV_TYPE 12 # Board rotation: set to direct replacement of RPi with PX4 # with forward facing vehicle forward param set-default SENS_BOARD_ROT 16 # Set proper failsafes param set-default COM_ACT_FAIL_ACT 0 param set-default COM_LOW_BAT_ACT 0 param set-default NAV_DLL_ACT 0 param set-default GF_ACTION 1 param set-default NAV_RCL_ACT 1 # disable attitude failure detection param set-default FD_FAIL_P 0 param set-default FD_FAIL_R 0 param set-default CA_ROTOR_COUNT 8 param set-default CA_R_REV 255 param set-default CA_ROTOR0_AX 1 param set-default CA_ROTOR0_AY -1 param set-default CA_ROTOR0_AZ 0 param set-default CA_ROTOR0_KM 0 param set-default CA_ROTOR0_PX 0.14 param set-default CA_ROTOR0_PY 0.10 param set-default CA_ROTOR0_PZ 0.06 param set-default CA_ROTOR1_AX 1 param set-default CA_ROTOR1_AY 1 param set-default CA_ROTOR1_AZ 0 param set-default CA_ROTOR1_KM 0 param set-default CA_ROTOR1_PX 0.14 param set-default CA_ROTOR1_PY -0.10 param set-default CA_ROTOR1_PZ 0.06 param set-default CA_ROTOR2_AX 1 param set-default CA_ROTOR2_AY 1 param set-default CA_ROTOR2_AZ 0 param set-default CA_ROTOR2_KM 0 param set-default CA_ROTOR2_PX -0.14 param set-default CA_ROTOR2_PY 0.10 param set-default CA_ROTOR2_PZ 0.06 param set-default CA_ROTOR3_AX 1 param set-default CA_ROTOR3_AY -1 param set-default CA_ROTOR3_AZ 0 param set-default CA_ROTOR3_KM 0 param set-default CA_ROTOR3_PX -0.14 param set-default CA_ROTOR3_PY -0.10 param set-default CA_ROTOR3_PZ 0.06 param set-default CA_ROTOR4_AX 0 param set-default CA_ROTOR4_AY 0 param set-default CA_ROTOR4_AZ -1 param set-default CA_ROTOR4_KM 0 param set-default CA_ROTOR4_PX 0.12 param set-default CA_ROTOR4_PY 0.22 param set-default CA_ROTOR4_PZ 0 param set-default CA_ROTOR5_AX 0 param set-default CA_ROTOR5_AY 0 param set-default CA_ROTOR5_AZ 1 param set-default CA_ROTOR5_KM 0 param set-default CA_ROTOR5_PX 0.12 param set-default CA_ROTOR5_PY -0.22 param set-default CA_ROTOR5_PZ 0 param set-default CA_ROTOR6_AX 0 param set-default CA_ROTOR6_AY 0 param set-default CA_ROTOR6_AZ 1 param set-default CA_ROTOR6_KM 0 param set-default CA_ROTOR6_PX -0.12 param set-default CA_ROTOR6_PY 0.22 param set-default CA_ROTOR6_PZ 0 param set-default CA_ROTOR7_AX 0 param set-default CA_ROTOR7_AY 0 param set-default CA_ROTOR7_AZ -1 param set-default CA_ROTOR7_KM 0 param set-default CA_ROTOR7_PX -0.12 param set-default CA_ROTOR7_PY -0.22 param set-default CA_ROTOR7_PZ 0 param set-default PWM_MAIN_FUNC1 101 param set-default PWM_MAIN_FUNC2 102 param set-default PWM_MAIN_FUNC3 103 param set-default PWM_MAIN_FUNC4 104 param set-default PWM_MAIN_FUNC5 105 param set-default PWM_MAIN_FUNC6 106 param set-default PWM_MAIN_FUNC7 107 param set-default PWM_MAIN_FUNC8 108 param set-default PWM_MAIN_MIN1 1100 param set-default PWM_MAIN_MIN2 1100 param set-default PWM_MAIN_MIN3 1100 param set-default PWM_MAIN_MIN4 1100 param set-default PWM_MAIN_MIN5 1100 param set-default PWM_MAIN_MIN6 1100 param set-default PWM_MAIN_MIN7 1100 param set-default PWM_MAIN_MIN8 1100 param set-default PWM_MAIN_MAX1 1900 param set-default PWM_MAIN_MAX2 1900 param set-default PWM_MAIN_MAX3 1900 param set-default PWM_MAIN_MAX4 1900 param set-default PWM_MAIN_MAX5 1900 param set-default PWM_MAIN_MAX6 1900 param set-default PWM_MAIN_MAX7 1900 param set-default PWM_MAIN_MAX8 1900 param set-default PWM_MAIN_DIS1 1500 param set-default PWM_MAIN_DIS2 1500 param set-default PWM_MAIN_DIS3 1500 param set-default PWM_MAIN_DIS4 1500 param set-default PWM_MAIN_DIS5 1500 param set-default PWM_MAIN_DIS6 1500 param set-default PWM_MAIN_DIS7 1500 param set-default PWM_MAIN_DIS8 1500