#!/bin/sh # # @name 3DoF Spacecraft Model # # @type 2D Freeflyer with 8 thrusters - Planar motion # # @maintainer Pedro Roque # . ${R}etc/init.d/rc.sc_defaults PX4_SIMULATOR=${PX4_SIMULATOR:=gz} PX4_GZ_WORLD=${PX4_GZ_WORLD:=default} PX4_SIM_MODEL=${PX4_SIM_MODEL:=spacecraft_2d} param set-default SIM_GZ_EN 1 param set-default SENS_EN_MAGSIM 1 param set-default COM_ARM_CHK_ESCS 0 # We don't have ESCs param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later? param set-default CA_AIRFRAME 14 param set-default MAV_TYPE 99 param set-default CA_THRUSTER_CNT 8 param set-default CA_R_REV 0 # param set-default FW_ARSP_MODE 1 # Auto to be provided by Custom Airframe param set-default CA_METHOD 0 # 0 is PseudoInverse, 3 is Metric # Set proper failsafes param set-default COM_ACT_FAIL_ACT 0 param set-default COM_LOW_BAT_ACT 0 param set-default NAV_DLL_ACT 0 param set-default GF_ACTION 1 param set-default NAV_RCL_ACT 1 param set-default COM_POSCTL_NAVL 2 # disable attitude failure detection param set-default FD_FAIL_P 0 param set-default FD_FAIL_R 0 param set-default CA_THRUSTER0_PX -0.12 param set-default CA_THRUSTER0_PY -0.12 param set-default CA_THRUSTER0_PZ 0.0 param set-default CA_THRUSTER0_CT 1.4 param set-default CA_THRUSTER0_AX 1.0 param set-default CA_THRUSTER0_AY 0.0 param set-default CA_THRUSTER0_AZ 0.0 param set-default CA_THRUSTER1_PX 0.12 param set-default CA_THRUSTER1_PY -0.12 param set-default CA_THRUSTER1_PZ 0.0 param set-default CA_THRUSTER1_CT 1.4 param set-default CA_THRUSTER1_AX -1.0 param set-default CA_THRUSTER1_AY 0.0 param set-default CA_THRUSTER1_AZ 0.0 param set-default CA_THRUSTER2_PX -0.12 param set-default CA_THRUSTER2_PY 0.12 param set-default CA_THRUSTER2_PZ 0.0 param set-default CA_THRUSTER2_CT 1.4 param set-default CA_THRUSTER2_AX 1.0 param set-default CA_THRUSTER2_AY 0.0 param set-default CA_THRUSTER2_AZ 0.0 param set-default CA_THRUSTER3_PX 0.12 param set-default CA_THRUSTER3_PY 0.12 param set-default CA_THRUSTER3_PZ 0.0 param set-default CA_THRUSTER3_CT 1.4 param set-default CA_THRUSTER3_AX -1.0 param set-default CA_THRUSTER3_AY 0.0 param set-default CA_THRUSTER3_AZ 0.0 param set-default CA_THRUSTER4_PX 0.12 param set-default CA_THRUSTER4_PY -0.12 param set-default CA_THRUSTER4_PZ 0.0 param set-default CA_THRUSTER4_CT 1.4 param set-default CA_THRUSTER4_AX 0.0 param set-default CA_THRUSTER4_AY 1.0 param set-default CA_THRUSTER4_AZ 0.0 param set-default CA_THRUSTER5_PX 0.12 param set-default CA_THRUSTER5_PY 0.12 param set-default CA_THRUSTER5_PZ 0.0 param set-default CA_THRUSTER5_CT 1.4 param set-default CA_THRUSTER5_AX 0.0 param set-default CA_THRUSTER5_AY -1.0 param set-default CA_THRUSTER5_AZ 0.0 param set-default CA_THRUSTER6_PX -0.12 param set-default CA_THRUSTER6_PY -0.12 param set-default CA_THRUSTER6_PZ 0.0 param set-default CA_THRUSTER6_CT 1.4 param set-default CA_THRUSTER6_AX 0.0 param set-default CA_THRUSTER6_AY 1.0 param set-default CA_THRUSTER6_AZ 0.0 param set-default CA_THRUSTER7_PX -0.12 param set-default CA_THRUSTER7_PY 0.12 param set-default CA_THRUSTER7_PZ 0.0 param set-default CA_THRUSTER7_CT 1.4 param set-default CA_THRUSTER7_AX 0.0 param set-default CA_THRUSTER7_AY -1.0 param set-default CA_THRUSTER7_AZ 0.0 param set-default SIM_GZ_TH_FUNC1 101 param set-default SIM_GZ_TH_FUNC2 102 param set-default SIM_GZ_TH_FUNC3 103 param set-default SIM_GZ_TH_FUNC4 104 param set-default SIM_GZ_TH_FUNC5 105 param set-default SIM_GZ_TH_FUNC6 106 param set-default SIM_GZ_TH_FUNC7 107 param set-default SIM_GZ_TH_FUNC8 108 param set-default SIM_GZ_TH_MIN1 0 param set-default SIM_GZ_TH_MIN2 0 param set-default SIM_GZ_TH_MIN3 0 param set-default SIM_GZ_TH_MIN4 0 param set-default SIM_GZ_TH_MIN5 0 param set-default SIM_GZ_TH_MIN6 0 param set-default SIM_GZ_TH_MIN7 0 param set-default SIM_GZ_TH_MIN8 0 param set-default SIM_GZ_TH_MAX1 10000 param set-default SIM_GZ_TH_MAX2 10000 param set-default SIM_GZ_TH_MAX3 10000 param set-default SIM_GZ_TH_MAX4 10000 param set-default SIM_GZ_TH_MAX5 10000 param set-default SIM_GZ_TH_MAX6 10000 param set-default SIM_GZ_TH_MAX7 10000 param set-default SIM_GZ_TH_MAX8 10000 # Controller Tunings param set SC_YAWRATE_P 3.335 param set SC_YAWRATE_I 0.87 param set SC_YAWRATE_D 0.15 param set SC_YR_INT_LIM 0.2 param set SC_YAW_P 3.0 param set SPC_POS_P 0.20 param set SPC_VEL_P 6.55 param set SPC_VEL_I 0.0 param set SPC_VEL_D 0.0 param set SPC_VEL_MAX 12.0