mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-14 12:13:34 +08:00
48 lines
1.2 KiB
Bash
48 lines
1.2 KiB
Bash
#!/bin/sh
|
|
#
|
|
# @name HexarotorX SITL for SIH
|
|
#
|
|
# @type Hexarotor x
|
|
# @class Copter
|
|
#
|
|
# @maintainer Matthias Grob <maetugr@gmail.com>
|
|
#
|
|
|
|
. ${R}etc/init.d/rc.mc_defaults
|
|
|
|
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
|
|
PX4_SIM_MODEL=${PX4_SIM_MODEL:=hex}
|
|
|
|
param set-default SENS_EN_GPSSIM 1
|
|
param set-default SENS_EN_BAROSIM 1
|
|
param set-default SENS_EN_MAGSIM 1
|
|
|
|
param set SIH_VEHICLE_TYPE 4
|
|
|
|
# Symmetric hexacopter X clockwise motor numbering
|
|
param set-default CA_ROTOR_COUNT 6
|
|
param set-default CA_ROTOR0_PX 0.866
|
|
param set-default CA_ROTOR0_PY 0.5
|
|
param set-default CA_ROTOR1_PX 0
|
|
param set-default CA_ROTOR1_PY 1
|
|
param set-default CA_ROTOR1_KM -0.05
|
|
param set-default CA_ROTOR2_PX -0.866
|
|
param set-default CA_ROTOR2_PY 0.5
|
|
param set-default CA_ROTOR3_PX -0.866
|
|
param set-default CA_ROTOR3_PY -0.5
|
|
param set-default CA_ROTOR3_KM -0.05
|
|
param set-default CA_ROTOR4_PX 0
|
|
param set-default CA_ROTOR4_PY -1
|
|
param set-default CA_ROTOR5_PX 0.866
|
|
param set-default CA_ROTOR5_PY -0.5
|
|
param set-default CA_ROTOR5_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 EKF2_GPS_DELAY 0
|