2017-09-25 12:17:50 -03:00
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#!nsh
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#
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# @name Generic Ground Vehicle
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#
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# @type Rover
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# @class Rover
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#
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# @output MAIN2 steering
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# @output MAIN4 throttle
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#
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# @maintainer
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#
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2018-01-06 06:09:57 -04:00
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# @board px4fmu-v2 exclude
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#
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2017-09-25 12:17:50 -03:00
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sh /etc/init.d/rc.ugv_defaults
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if [ $AUTOCNF == yes ]
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then
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param set BAT_N_CELLS 2
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param set FW_AIRSPD_MIN 0
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param set FW_AIRSPD_TRIM 1
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param set FW_AIRSPD_MAX 3
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param set NAV_ACC_RAD 0.5
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param set MIS_LTRMIN_ALT 0.01
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param set MIS_TAKEOFF_ALT 0.01
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param set EKF2_GBIAS_INIT 0.01
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param set EKF2_ANGERR_INIT 0.01
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param set EKF2_MAG_TYPE 1
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param set GND_WR_P 2
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param set GND_WR_I 0.9674
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param set GND_WR_IMAX 0.1
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param set GND_WR_D 1.2
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param set GND_SP_CTRL_MODE 1
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param set GND_L1_DIST 10
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param set GND_THR_IDLE 0
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param set GND_THR_CRUISE 0
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param set GND_THR_MAX 0.5
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param set GND_THR_MIN 0
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param set GND_SPEED_P 0.25
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param set GND_SPEED_I 0.001
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param set GND_SPEED_D 3
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param set GND_SPEED_IMAX 0.125
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param set GND_SPEED_THR_SC 1
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fi
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# Configure this as ugv
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set MAV_TYPE 10
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# Set mixer
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set MIXER ugv_generic
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# Provide ESC a constant 1500 us pulse
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set PWM_DISARMED 1500
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set PWM_MAIN_REV2 1
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set PWM_MAX 2000
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set PWM_MIN 1000
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