10016_3dr_iris 1.14 KB
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#!nsh
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#
# 3DR Iris Quadcopter
#
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# Anton Babushkin <anton.babushkin@me.com>
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#
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if [ $DO_AUTOCONFIG == yes ]
then
	#
	# Default parameters for this platform
	#
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	param set MC_ROLL_P 9.0
	param set MC_ROLLRATE_P 0.13
	param set MC_ROLLRATE_I 0.0
	param set MC_ROLLRATE_D 0.004
	param set MC_PITCH_P 9.0
	param set MC_PITCHRATE_P 0.13
	param set MC_PITCHRATE_I 0.0
	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
	param set MC_YAWRATE_D 0.0
	
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	param set MPC_THR_MAX 1.0
	param set MPC_THR_MIN 0.1
	param set MPC_XY_P 1.0
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	param set MPC_XY_VEL_P 0.1
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	param set MPC_XY_VEL_I 0.02
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	param set MPC_XY_VEL_D 0.01
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	param set MPC_XY_VEL_MAX 5
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	param set MPC_XY_FF 0.5
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	param set MPC_Z_P 1.0
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	param set MPC_Z_VEL_P 0.1
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	param set MPC_Z_VEL_I 0.02
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	param set MPC_Z_VEL_D 0.0
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	param set MPC_Z_VEL_MAX 3
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	param set MPC_Z_FF 0.5
	param set MPC_TILT_MAX 1.0
	param set MPC_LAND_SPEED 1.0
	param set MPC_LAND_TILT 0.3
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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 VEHICLE_TYPE mc
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set MIXER FMU_quad_w
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set PWM_OUTPUTS 1234
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set PWM_RATE 400
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set PWM_DISARMED 900
set PWM_MIN 1000
set PWM_MAX 2000