forked from Archive/PX4-Autopilot
48 lines
1.0 KiB
Plaintext
48 lines
1.0 KiB
Plaintext
#!nsh
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#
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# HIL Malolo 1 (Flightgear)
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#
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# Thomas Gubler <thomasgubler@gmail.com>
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#
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sh /etc/init.d/rc.fw_defaults
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if [ $DO_AUTOCONFIG == yes ]
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then
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param set FW_AIRSPD_MIN 12
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param set FW_AIRSPD_TRIM 25
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param set FW_AIRSPD_MAX 40
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param set FW_ATT_TC 0.3
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param set FW_L1_DAMPING 0.74
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param set FW_L1_PERIOD 15
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param set FW_PR_FF 0.8
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param set FW_PR_I 0.05
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param set FW_PR_IMAX 0.2
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param set FW_PR_P 0.1
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param set FW_P_ROLLFF 0
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param set FW_RR_FF 0.6
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param set FW_RR_I 0.02
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param set FW_RR_IMAX 0.2
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param set FW_RR_P 0.1
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param set FW_R_LIM 45
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param set FW_R_RMAX 0
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param set FW_T_CLMB_MAX 5
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param set FW_T_HRATE_P 0.02
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param set FW_T_PTCH_DAMP 0
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param set FW_T_RLL2THR 15
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param set FW_T_SINK_MAX 5
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param set FW_T_SINK_MIN 2
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param set FW_T_SRATE_P 0.01
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param set FW_T_TIME_CONST 3
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param set FW_T_VERT_ACC 7
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param set FW_YR_FF 0.0
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param set FW_YR_I 0
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param set FW_YR_IMAX 0.2
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param set FW_YR_P 0.0
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fi
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set HIL yes
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# Set the AERT mixer for HIL (even if the malolo is a flying wing)
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set MIXER FMU_AERT
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