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111 lines
3.0 KiB
111 lines
3.0 KiB
# Param setting and declaring file
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param select /data/px4/param/hitl_parameters
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# Sys config parameters
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param set SYS_AUTOSTART 1001
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param set SYS_HITL 1
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# Make sure we are running at 800Hz on IMU
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param set IMU_GYRO_RATEMAX 800
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# Some parameters for control allocation
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param set CA_ROTOR_COUNT 4
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param set CA_AIRFRAME 0
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param set CA_ROTOR_COUNT 4
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param set CA_ROTOR0_PX 0.15
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param set CA_ROTOR0_PY 0.25
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param set CA_ROTOR1_PX -0.15
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param set CA_ROTOR1_PY -0.19
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param set CA_ROTOR2_PX 0.15
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param set CA_ROTOR2_PY -0.25
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param set CA_ROTOR2_KM -0.05
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param set CA_ROTOR3_PX -0.15
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param set CA_ROTOR3_PY 0.19
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param set CA_ROTOR3_KM -0.05
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# Sensor calibration parameters
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param set CAL_ACC0_ID 2490378
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param set CAL_ACC0_PRIO 50
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param set CAL_ACC0_XOFF -0.018255233764648438
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param set CAL_ACC0_XSCALE 1.000119328498840332
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param set CAL_ACC0_YOFF 0.097194194793701172
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param set CAL_ACC0_YSCALE 1.003928661346435547
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param set CAL_ACC0_ZOFF 0.081269264221191406
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param set CAL_ACC0_ZSCALE 0.992971897125244141
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param set CAL_ACC1_PRIO 50
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param set CAL_ACC2_PRIO 50
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param set CAL_ACC3_PRIO 50
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param set CAL_AIR_CMODEL 0
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param set CAL_AIR_TUBED_MM 1.500000000000000000
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param set CAL_AIR_TUBELEN 0.200000002980232239
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param set CAL_GYRO0_ID 2490378
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param set CAL_GYRO0_PRIO 50
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param set CAL_GYRO0_XOFF 0.013671654276549816
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param set CAL_GYRO0_YOFF -0.000422076700488105
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param set CAL_GYRO0_ZOFF -0.003227389883249998
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param set CAL_GYRO1_PRIO 50
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param set CAL_GYRO2_PRIO 50
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param set CAL_GYRO3_PRIO 50
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param set CAL_MAG0_ID 396809
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param set CAL_MAG0_PRIO 75
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param set CAL_MAG0_ROT 0
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param set CAL_MAG0_XODIAG -0.011825157329440117
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param set CAL_MAG0_XOFF -0.011212680488824844
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param set CAL_MAG0_XSCALE 1.001187443733215332
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param set CAL_MAG0_YODIAG 0.022539729252457619
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param set CAL_MAG0_YOFF -0.030884368345141411
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param set CAL_MAG0_YSCALE 0.940797865390777588
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param set CAL_MAG0_ZODIAG -0.006671304814517498
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param set CAL_MAG0_ZOFF -0.097350947558879852
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param set CAL_MAG0_ZSCALE 1.050295352935791016
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param set CAL_MAG1_PRIO 50
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param set CAL_MAG2_PRIO 50
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param set CAL_MAG3_PRIO 50
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# Commander parameters
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param set COM_CPU_MAX 0
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param set COM_DISARM_PRFLT -1
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param set COM_RC_IN_MODE 1
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param set NAV_RCL_ACT 1
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param set COM_FLIGHT_UUID 15
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# EKF2 parameters
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param set EKF2_ABL_LIM 0.8
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param set EKF2_EV_DELAY 5.0
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param set EKF2_IMU_POS_X 0.027
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param set EKF2_IMU_POS_Y 0.009
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param set EKF2_IMU_POS_Z -0.019
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param set EKF2_MAG_DECL 3.2
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# Control allocator parameters for HIL
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param set HIL_ACT_FUNC1 101
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param set HIL_ACT_FUNC2 102
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param set HIL_ACT_FUNC3 103
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param set HIL_ACT_FUNC4 104
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param set PWM_MAIN_FUNC1 101
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param set PWM_MAIN_FUNC2 102
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param set PWM_MAIN_FUNC3 103
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param set PWM_MAIN_FUNC4 104
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# Mavlink parameters
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param set MAV_TYPE 2
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# Autotune parameters
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param set MC_AT_EN 1
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# RC Mapping parameters
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param set RC_MAP_PITCH 2
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param set RC_MAP_ROLL 1
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param set RC_MAP_THROTTLE 3
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param set RC_MAP_YAW 4
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param set RC_MAP_FLTMODE 6
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param set RC_MAP_KILL_SW 7
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# CBRK parameters
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param set CBRK_SUPPLY_CHK 894281
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# Landing parameters
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param set LND_FLIGHT_T_LO 483791313
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param save
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