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Add monocopter build target

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This commit is contained in:
Jaeyoung-Lim 2024-06-13 16:17:54 +02:00
parent db2f616400
commit bdd27e02fa
3 changed files with 72 additions and 0 deletions
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70
ROMFS/px4fmu_common/init.d-posix/airframes/1090_gazebo-classic_monocopter Normal file
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@ -0,0 +1,70 @@
#!/bin/sh
#
# @name Monocopter SITL
#
. ${R}etc/init.d/rc.fw_defaults
param set-default FW_LND_ANG 8
param set-default NPFG_PERIOD 12
param set-default FW_PR_P 0.9
param set-default FW_PR_FF 0.5
param set-default FW_PR_I 0.5
param set-default TRIM_PITCH -0.15
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_FF 0.5
param set-default FW_RR_P 0.3
param set-default FW_RR_I 0.5
param set-default FW_YR_FF 0.5
param set-default FW_YR_P 0.6
param set-default FW_YR_I 0.5
param set-default FW_SPOILERS_LND 0.4
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_THR_TRIM 0.25
param set-default FW_T_CLMB_MAX 8
param set-default FW_T_SINK_MAX 2.7
param set-default FW_T_SINK_MIN 2.2
param set-default FW_W_EN 1
param set-default MIS_TAKEOFF_ALT 30
param set-default NAV_ACC_RAD 15
param set-default NAV_DLL_ACT 2
param set-default RWTO_TKOFF 1
param set-default CA_AIRFRAME 1
param set-default CA_ROTOR_COUNT 1
param set-default CA_ROTOR0_PX 0.3
param set-default CA_SV_CS_COUNT 6
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS3_TRQ_Y 1
param set-default CA_SV_CS3_TYPE 4
param set-default CA_SV_CS4_TYPE 9
param set-default CA_SV_CS5_TYPE 10
param set-default PWM_MAIN_FUNC3 204
param set-default PWM_MAIN_FUNC4 205
param set-default PWM_MAIN_FUNC5 101
param set-default PWM_MAIN_FUNC6 201
param set-default PWM_MAIN_FUNC7 202
param set-default PWM_MAIN_FUNC8 203
param set-default PWM_MAIN_FUNC9 206
param set-default PWM_MAIN_REV 256

1
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
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@ -67,6 +67,7 @@ px4_add_romfs_files(
1061_gazebo-classic_r1_rover
1062_flightgear_tf-r1
1070_gazebo-classic_boat
1090_gazebo-classic_monocopter
2507_gazebo-classic_cloudship

1
src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake
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@ -87,6 +87,7 @@ if(gazebo_FOUND)
iris_opt_flow_mockup
iris_rplidar
iris_vision
monocopter
omnicopter
plane
plane_cam