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param
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param
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#!/bin/sh
#
# @name Gazebo s2000
#
# @type Octocopter X geometry
#
. ${R}etc/init.d/rc.mc_defaults
param set-default MAV_TYPE 14
param set-default CA_AIRFRAME 0
param set-default CA_ROTOR_COUNT 8
param set-default CA_ROTOR0_PX 0.52
param set-default CA_ROTOR0_PY -0.195
param set-default CA_ROTOR0_KM -0.05
param set-default CA_ROTOR1_PX -0.52
param set-default CA_ROTOR1_PY 0.195
param set-default CA_ROTOR1_KM -0.05
param set-default CA_ROTOR2_PX 0.25
param set-default CA_ROTOR2_PY -0.495
param set-default CA_ROTOR2_KM 0.05
param set-default CA_ROTOR3_PX -0.52
param set-default CA_ROTOR3_PY -0.195
param set-default CA_ROTOR3_KM 0.05
param set-default CA_ROTOR4_PX 0.52
param set-default CA_ROTOR4_PY 0.195
param set-default CA_ROTOR4_KM 0.05
param set-default CA_ROTOR5_PX -0.25
param set-default CA_ROTOR5_PY 0.495
param set-default CA_ROTOR5_KM 0.05
param set-default CA_ROTOR6_PX 0.25
param set-default CA_ROTOR6_PY 0.495
param set-default CA_ROTOR6_KM -0.05
param set-default CA_ROTOR7_PX -0.25
param set-default CA_ROTOR7_PY -0.495
param set-default CA_ROTOR7_KM -0.05
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default PWM_MAIN_FUNC5 105
param set-default PWM_MAIN_FUNC6 106
param set-default PWM_MAIN_FUNC7 107
param set-default PWM_MAIN_FUNC8 108
param set-default EKF2_MULTI_IMU 0
param set-default SENS_IMU_MODE 0
param set-default MPC_XY_VEL_P_ACC 2.0
param set-default MPC_XY_VEL_I_ACC 0.4
param set-default MPC_XY_VEL_D_ACC 1.0
param set-default MPC_XY_P 0.95
param set-default MPC_Z_P 1.0
param set-default MC_ROLLRATE_P -0.1
param set-default MC_ROLLRATE_I 0.0
param set-default MC_ROLLRATE_D 0.004
param set-default MC_ROLL_P 2.0
param set-default MC_PITCHRATE_P 0.2
param set-default MC_PITCHRATE_I 0.0
param set-default MC_PITCHRATE_D 0.009
param set-default MC_PITCH_P 3.0
param set-default MC_YAWRATE_P 0.3
param set-default MC_YAWRATE_I 0.0
param set-default MC_YAWRATE_D 0.001
param set-default MC_YAW_P 1.4
param set-default BAT1_N_CELLS 6.0