mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-18 07:03:33 +08:00
Jacob Dahl
ea8bcd9cef
* gz: use server config file for loading world plugins * submodule * use server.config in tree * newlines * format * gzbridge: rename function * format * gzbridge: add magnetometer callback * change gz_find_package to find_package * fix up directory structure and cmake to allow multiple plugins * newlines * add comment block explaining gz_env.sh * remove dupe readme * remove SENS_EN_MAGSIM from all gz airframe files except spacecraft * update gz submodule
52 lines
1.2 KiB
Bash
52 lines
1.2 KiB
Bash
#!/bin/sh
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#
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# @name Gazebo x500
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#
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# @type Quadrotor
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#
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. ${R}etc/init.d/rc.mc_defaults
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PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
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PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
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param set-default SIM_GZ_EN 1
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param set-default CA_AIRFRAME 0
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param set-default CA_ROTOR_COUNT 4
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param set-default CA_ROTOR0_PX 0.13
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param set-default CA_ROTOR0_PY 0.22
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param set-default CA_ROTOR0_KM 0.05
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param set-default CA_ROTOR1_PX -0.13
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param set-default CA_ROTOR1_PY -0.20
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param set-default CA_ROTOR1_KM 0.05
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param set-default CA_ROTOR2_PX 0.13
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param set-default CA_ROTOR2_PY -0.22
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param set-default CA_ROTOR2_KM -0.05
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param set-default CA_ROTOR3_PX -0.13
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param set-default CA_ROTOR3_PY 0.20
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param set-default CA_ROTOR3_KM -0.05
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param set-default SIM_GZ_EC_FUNC1 101
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param set-default SIM_GZ_EC_FUNC2 102
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param set-default SIM_GZ_EC_FUNC3 103
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param set-default SIM_GZ_EC_FUNC4 104
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param set-default SIM_GZ_EC_MIN1 150
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param set-default SIM_GZ_EC_MIN2 150
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param set-default SIM_GZ_EC_MIN3 150
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param set-default SIM_GZ_EC_MIN4 150
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param set-default SIM_GZ_EC_MAX1 1000
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param set-default SIM_GZ_EC_MAX2 1000
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param set-default SIM_GZ_EC_MAX3 1000
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param set-default SIM_GZ_EC_MAX4 1000
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param set-default MPC_THR_HOVER 0.60
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param set-default NAV_DLL_ACT 2
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