forked from Archive/PX4-Autopilot
MC: Move all multicopter configs to PWM min/max params
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@ -21,25 +21,12 @@ then
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param set MC_YAWRATE_P 0.2
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param set MC_YAWRATE_I 0.1
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param set MC_YAWRATE_D 0.0
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param set PWM_DISARMED 900
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# DJI ESCs do not support calibration and need a higher min
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param set PWM_MIN 1230
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param set PWM_MAX 1950
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fi
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# Transitional support: ensure suitable PWM min/max param values
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if param compare PWM_MIN 1000
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if param compare PWM_MIN 1075
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then
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param set PWM_MIN 1230
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fi
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if param compare PWM_MAX 2000
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then
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param set PWM_MAX 1950
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fi
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if param compare PWM_DISARMED 0
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then
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param set PWM_DISARMED 900
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fi
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set PWM_DISARMED p:PWM_DISARMED
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set PWM_MIN p:PWM_MIN
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set PWM_MAX p:PWM_MAX
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@ -22,25 +22,12 @@ then
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param set MC_YAWRATE_P 0.3
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param set MC_YAWRATE_I 0.1
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param set MC_YAWRATE_D 0.0
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param set PWM_DISARMED 900
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# DJI ESCs do not support calibration and need a higher min
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param set PWM_MIN 1230
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param set PWM_MAX 1950
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fi
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# Transitional support: ensure suitable PWM min/max param values
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if param compare PWM_MIN 1000
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if param compare PWM_MIN 1075
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then
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param set PWM_MIN 1230
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fi
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if param compare PWM_MAX 2000
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then
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param set PWM_MAX 1950
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fi
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if param compare PWM_DISARMED 0
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then
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param set PWM_DISARMED 900
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fi
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set PWM_DISARMED p:PWM_DISARMED
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set PWM_MIN p:PWM_MIN
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set PWM_MAX p:PWM_MAX
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@ -14,13 +14,31 @@ then
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param set NAV_ACC_RAD 2.0
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param set RTL_RETURN_ALT 30.0
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param set RTL_DESCEND_ALT 10.0
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param set PWM_DISARMED 900
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param set PWM_MIN 1075
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param set PWM_MAX 1950
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fi
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# Transitional support: ensure suitable PWM min/max param values
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if param compare PWM_MIN 1000
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then
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param set PWM_MIN 1075
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fi
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if param compare PWM_MAX 2000
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then
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param set PWM_MAX 1950
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fi
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if param compare PWM_DISARMED 0
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then
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param set PWM_DISARMED 900
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fi
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# set environment variables (!= parameters)
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set PWM_RATE 400
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set PWM_DISARMED 900
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set PWM_MIN 1075
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set PWM_MAX 2000
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# tell the mixer to use parameters for these instead
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set PWM_DISARMED p:PWM_DISARMED
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set PWM_MIN p:PWM_MIN
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set PWM_MAX p:PWM_MAX
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# This is the gimbal pass mixer
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set MIXER_AUX pass
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