2013-07-18 17:49:04 -03:00
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#!nsh
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2014-01-10 17:04:56 -04:00
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#
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2015-07-29 14:17:01 -03:00
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# @name 3DR Iris Quadrotor
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2014-01-10 17:04:56 -04:00
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#
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2015-07-29 14:17:01 -03:00
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# @type Quadrotor Wide
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#
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# @maintainer Anton Babushkin <anton@px4.io>
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2014-01-10 17:04:56 -04:00
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#
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2013-07-18 17:49:04 -03:00
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2014-02-07 17:28:42 -04:00
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sh /etc/init.d/rc.mc_defaults
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2014-11-17 12:10:47 -04:00
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if [ $AUTOCNF == yes ]
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2014-01-10 08:18:34 -04:00
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then
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2014-02-11 18:24:49 -04:00
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# TODO tune roll/pitch separately
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2014-03-10 14:48:07 -03:00
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param set MC_ROLL_P 7.0
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2015-08-30 17:42:28 -03:00
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param set MC_ROLLRATE_P 0.15
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2015-05-13 10:28:02 -03:00
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param set MC_ROLLRATE_I 0.05
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2014-02-11 18:24:49 -04:00
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param set MC_ROLLRATE_D 0.004
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2014-03-10 14:48:07 -03:00
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param set MC_PITCH_P 7.0
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2015-08-30 17:42:28 -03:00
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param set MC_PITCHRATE_P 0.15
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2015-05-13 10:28:02 -03:00
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param set MC_PITCHRATE_I 0.05
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2014-02-11 18:24:49 -04:00
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param set MC_PITCHRATE_D 0.004
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2014-04-28 12:26:42 -03:00
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param set MC_YAW_P 2.5
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param set MC_YAWRATE_P 0.25
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param set MC_YAWRATE_I 0.25
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2014-02-11 18:24:49 -04:00
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param set MC_YAWRATE_D 0.0
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2016-06-12 04:29:14 -03:00
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param set BAT_V_DIV 12.27559
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param set BAT_A_PER_V 15.39103
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2013-08-28 09:58:29 -03:00
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fi
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2014-01-10 17:04:56 -04:00
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2015-01-06 18:25:06 -04:00
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set MIXER quad_w
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2014-01-10 17:04:56 -04:00
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2014-11-17 12:02:57 -04:00
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set PWM_OUT 1234
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