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47 lines
1.3 KiB
47 lines
1.3 KiB
#!/bin/sh
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#
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# @name COEX Clover 4
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#
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# @type Quadrotor x
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# @class Copter
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#
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# @maintainer Oleg Kalachev <okalachev@gmail.com>
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#
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# @board px4_fmu-v2 exclude
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# @board px4_fmu-v4pro exclude
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# @board bitcraze_crazyflie exclude
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#
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. ${R}etc/init.d/rc.mc_defaults
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param set-default MC_PITCHRATE_P 0.087
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param set-default MC_PITCHRATE_I 0.037
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param set-default MC_PITCHRATE_D 0.0044
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param set-default MC_PITCH_P 8.5
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param set-default MC_ROLLRATE_P 0.087
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param set-default MC_ROLLRATE_I 0.037
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param set-default MC_ROLLRATE_D 0.0044
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param set-default MC_ROLL_P 8.5
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param set-default MPC_XY_VEL_P_ACC 2.2
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param set-default MPC_XY_VEL_D_ACC 0.26
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param set-default MPC_XY_P 1.1
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param set-default MPC_Z_VEL_P_ACC 4.8
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param set-default MPC_Z_P 1.2
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# Square quadrotor X PX4 numbering
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param set-default CA_ROTOR_COUNT 4
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param set-default CA_ROTOR0_PX 1
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param set-default CA_ROTOR0_PY 1
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param set-default CA_ROTOR1_PX -1
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param set-default CA_ROTOR1_PY -1
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param set-default CA_ROTOR2_PX 1
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param set-default CA_ROTOR2_PY -1
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param set-default CA_ROTOR2_KM -0.05
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param set-default CA_ROTOR3_PX -1
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param set-default CA_ROTOR3_PY 1
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param set-default CA_ROTOR3_KM -0.05
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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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