10016_3dr_iris 690 Bytes
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#!nsh
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#
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# @name 3DR Iris Quadrotor
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#
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# @type Quadrotor Wide
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# @maintainer Anton Babushkin <anton@px4.io>
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#
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sh /etc/init.d/rc.mc_defaults

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if [ $AUTOCNF == 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 0.15
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	param set MC_ROLLRATE_I 0.05
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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 0.15
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	param set MC_PITCHRATE_I 0.05
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	param set MC_PITCHRATE_D 0.004
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	param set MC_YAW_P 2.5
	param set MC_YAWRATE_P 0.25
	param set MC_YAWRATE_I 0.25
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	param set MC_YAWRATE_D 0.0

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	param set BAT_V_SCALING 0.00989
	param set BAT_C_SCALING 0.0124
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fi
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set MIXER quad_w
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set PWM_OUT 1234
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set PWM_MIN 1200
set PWM_MAX 1950