4901_crazyflie21
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#!/bin/sh
#
# @name Crazyflie 2.1
#
# @type Quadrotor x
# @class Copter
#
# @maintainer Dennis Shtatov <densht@gmail.com>
#
# @board px4_fmu-v2 exclude
# @board px4_fmu-v3 exclude
# @board px4_fmu-v4 exclude
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
#
. ${R}etc/init.d/rc.mc_defaults
set MIXER quad_x_cw
set PWM_OUT 1234
param set-default SYS_MC_EST_GROUP 2
param set-default SYS_HAS_MAG 0
param set-default EKF2_AID_MASK 2
param set-default EKF2_MAG_TYPE 5
param set-default BAT_N_CELLS 1
param set-default BAT1_N_CELLS 1
param set-default BAT1_SOURCE 1
param set-default CBRK_SUPPLY_CHK 894281
param set-default CBRK_USB_CHK 197848
param set-default COM_RC_IN_MODE 1
param set-default IMU_GYRO_CUTOFF 100
param set-default IMU_ACCEL_CUTOFF 30
param set-default MC_AIRMODE 1
param set-default IMU_DGYRO_CUTOFF 70
param set-default MC_PITCHRATE_D 0.002
param set-default MC_PITCHRATE_I 0.2
param set-default MC_PITCHRATE_P 0.07
param set-default MC_PITCH_P 6.5
param set-default MC_ROLLRATE_D 0.002
param set-default MC_ROLLRATE_I 0.2
param set-default MC_ROLLRATE_P 0.07
param set-default MC_ROLL_P 6.5
param set-default MC_YAW_P 3
param set-default MPC_THR_HOVER 0.7
param set-default MPC_THR_MAX 1
param set-default MPC_Z_P 1.5
param set-default MPC_Z_VEL_P_ACC 8
param set-default MPC_Z_VEL_I_ACC 6
param set-default MPC_HOLD_MAX_XY 0.1
param set-default MPC_MAX_FLOW_HGT 3
#param set IMU_GYRO_NF_FREQ 10
#param set IMU_GYRO_NF_BW 20
param set-default NAV_RCL_ACT 3
param set-default PWM_MAIN_DISARM 0
param set-default PWM_MAIN_MIN 20
param set-default PWM_MAIN_MAX 255
# Run the motors at 328.125 kHz (recommended)
param set-default PWM_MAIN_RATE 3921
param set-default SDLOG_PROFILE 1
param set-default SENS_FLOW_MINRNG 0.05
set PWM_MAIN_DISARM none
set PWM_MAIN_MAX none
set PWM_MAIN_MIN none
syslink start
mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000