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76 lines
2.1 KiB
76 lines
2.1 KiB
#!/bin/sh
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#
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# @name VTOL Tiltrotor
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#
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# @type VTOL Tiltrotor
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#
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. ${R}etc/init.d/rc.vtol_defaults
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param set-default MAV_TYPE 21
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param set-default CA_AIRFRAME 3
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param set-default CA_ROTOR_COUNT 4
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param set-default CA_ROTOR0_PX 0.1515
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param set-default CA_ROTOR0_PY 0.245
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param set-default CA_ROTOR0_KM 0.05
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param set-default CA_ROTOR1_PX -0.1515
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param set-default CA_ROTOR1_PY -0.1875
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param set-default CA_ROTOR1_KM 0.05
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param set-default CA_ROTOR2_PX 0.1515
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param set-default CA_ROTOR2_PY -0.245
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param set-default CA_ROTOR2_KM -0.05
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param set-default CA_ROTOR3_PX -0.1515
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param set-default CA_ROTOR3_PY 0.1875
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param set-default CA_ROTOR3_KM -0.05
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param set-default CA_ROTOR0_TILT 1
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param set-default CA_ROTOR2_TILT 2
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param set-default CA_SV_CS0_TRQ_R -0.5
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param set-default CA_SV_CS0_TYPE 1
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param set-default CA_SV_CS1_TRQ_R 0.5
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param set-default CA_SV_CS1_TYPE 2
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param set-default CA_SV_CS2_TRQ_P 1
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param set-default CA_SV_CS2_TYPE 3
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param set-default CA_SV_CS_COUNT 3
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param set-default CA_SV_TL_COUNT 2
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param set-default PWM_MAIN_FUNC1 101
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param set-default PWM_MAIN_FUNC2 102
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param set-default PWM_MAIN_FUNC3 103
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param set-default PWM_MAIN_FUNC4 104
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param set-default PWM_MAIN_FUNC5 204
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param set-default PWM_MAIN_FUNC6 205
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param set-default PWM_MAIN_FUNC7 201
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param set-default PWM_MAIN_FUNC8 202
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param set-default PWM_MAIN_FUNC9 203
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param set-default NPFG_PERIOD 12
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param set-default FW_PR_FF 0.2
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param set-default FW_PR_P 0.9
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param set-default FW_PSP_OFF 2
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param set-default FW_P_LIM_MIN -15
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param set-default FW_RR_FF 0.1
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param set-default FW_RR_P 0.3
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param set-default FW_THR_TRIM 0.38
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param set-default FW_THR_MAX 0.6
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param set-default FW_THR_MIN 0.05
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param set-default FW_T_CLMB_MAX 8
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param set-default FW_T_SINK_MAX 2.7
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param set-default FW_T_SINK_MIN 2.2
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param set-default MC_AIRMODE 1
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param set-default MC_YAWRATE_P 0.3
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param set-default MC_YAWRATE_I 0.3
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param set-default MPC_XY_VEL_P_ACC 3
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param set-default MPC_XY_VEL_I_ACC 4
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param set-default MPC_XY_VEL_D_ACC 0.1
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param set-default MIS_TAKEOFF_ALT 10
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param set-default VT_FWD_THRUST_EN 4
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param set-default VT_FWD_THRUST_SC 0.6
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param set-default VT_TILT_TRANS 0.6
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param set-default VT_TYPE 1
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