2014-04-12 11:13:34 -03:00
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#!nsh
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#
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# Steadidrone QU4D
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#
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# Thomas Gubler <thomasgubler@gmail.com>
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# Lorenz Meier <lm@inf.ethz.ch>
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#
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sh /etc/init.d/rc.mc_defaults
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if [ $DO_AUTOCONFIG == yes ]
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then
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# TODO tune roll/pitch separately
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param set MC_ROLL_P 7.0
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param set MC_ROLLRATE_P 0.13
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param set MC_ROLLRATE_I 0.0
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param set MC_ROLLRATE_D 0.004
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param set MC_PITCH_P 7.0
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param set MC_PITCHRATE_P 0.13
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param set MC_PITCHRATE_I 0.0
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param set MC_PITCHRATE_D 0.004
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param set MC_YAW_P 0.5
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param set MC_YAWRATE_P 0.2
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param set MC_YAWRATE_I 0.0
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param set MC_YAWRATE_D 0.0
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param set BAT_N_CELLS 4
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fi
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set MIXER FMU_quad_w
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set PWM_MIN 1210
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2014-05-12 04:58:41 -03:00
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set PWM_MAX 2100
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2014-04-12 11:13:34 -03:00
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set PWM_OUTPUTS 1234
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