mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-18 06:33:33 +08:00
Matthias Grob
e0cdcdb436
In an effort to reduce configuration space. I've not seen use for this option. If a pilot flies manually in position mode he has some visual reference of the vehicle and can do better than an autonomous mode without position reference. Also by now we have nudging in Descend mode so the pilot can still give input and the only difference is it automatically goes down instead of the pilot having to descend by stick to land.
156 lines
4.4 KiB
Bash
156 lines
4.4 KiB
Bash
#!/bin/sh
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#
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# @name KTH-ATMOS
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#
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# @type Free-Flyer
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# @class Spacecraft
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#
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# @output Motor1 back left thruster, +x thrust
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# @output Motor2 front left thruster, -x thrust
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# @output Motor3 back right thruster, +x thrust
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# @output Motor4 front right thruster, -x thrust
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# @output Motor5 front left thruster, +y thrust
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# @output Motor6 front right thruster, -y thrust
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# @output Motor7 back left thruster, +y thrust
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# @output Motor8 back right thruster, -y thrust
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#
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# @maintainer discower-io
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# @url https://atmos.discower.io
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#
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. ${R}etc/init.d/rc.sc_defaults
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PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
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PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=atmos}
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param set-default SIM_GZ_EN 1
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param set-default SENS_EN_MAGSIM 1
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param set-default COM_ARM_CHK_ESCS 0 # We don't have ESCs
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param set-default FD_ESCS_EN 0
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param set-default CA_AIRFRAME 14
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param set-default MAV_TYPE 45
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param set-default CA_ROTOR_COUNT 8
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param set-default CA_R_REV 0
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# Auto to be provided by Custom Airframe
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param set-default CA_METHOD 0
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# Set proper failsafes
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param set-default COM_ACT_FAIL_ACT 0
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param set-default COM_LOW_BAT_ACT 0
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param set-default NAV_DLL_ACT 0
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param set-default GF_ACTION 1
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param set-default NAV_RCL_ACT 1
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# disable attitude failure detection
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param set-default FD_FAIL_P 0
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param set-default FD_FAIL_R 0
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param set-default CA_ROTOR0_PX -0.12
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param set-default CA_ROTOR0_PY -0.12
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param set-default CA_ROTOR0_PZ 0.0
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param set-default CA_ROTOR0_CT 1.4
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param set-default CA_ROTOR0_AX 1.0
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param set-default CA_ROTOR0_AY 0.0
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param set-default CA_ROTOR0_AZ 0.0
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param set-default CA_ROTOR1_PX 0.12
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param set-default CA_ROTOR1_PY -0.12
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param set-default CA_ROTOR1_PZ 0.0
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param set-default CA_ROTOR1_CT 1.4
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param set-default CA_ROTOR1_AX -1.0
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param set-default CA_ROTOR1_AY 0.0
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param set-default CA_ROTOR1_AZ 0.0
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param set-default CA_ROTOR2_PX -0.12
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param set-default CA_ROTOR2_PY 0.12
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param set-default CA_ROTOR2_PZ 0.0
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param set-default CA_ROTOR2_CT 1.4
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param set-default CA_ROTOR2_AX 1.0
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param set-default CA_ROTOR2_AY 0.0
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param set-default CA_ROTOR2_AZ 0.0
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param set-default CA_ROTOR3_PX 0.12
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param set-default CA_ROTOR3_PY 0.12
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param set-default CA_ROTOR3_PZ 0.0
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param set-default CA_ROTOR3_CT 1.4
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param set-default CA_ROTOR3_AX -1.0
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param set-default CA_ROTOR3_AY 0.0
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param set-default CA_ROTOR3_AZ 0.0
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param set-default CA_ROTOR4_PX 0.12
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param set-default CA_ROTOR4_PY -0.12
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param set-default CA_ROTOR4_PZ 0.0
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param set-default CA_ROTOR4_CT 1.4
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param set-default CA_ROTOR4_AX 0.0
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param set-default CA_ROTOR4_AY 1.0
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param set-default CA_ROTOR4_AZ 0.0
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param set-default CA_ROTOR5_PX 0.12
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param set-default CA_ROTOR5_PY 0.12
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param set-default CA_ROTOR5_PZ 0.0
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param set-default CA_ROTOR5_CT 1.4
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param set-default CA_ROTOR5_AX 0.0
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param set-default CA_ROTOR5_AY -1.0
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param set-default CA_ROTOR5_AZ 0.0
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param set-default CA_ROTOR6_PX -0.12
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param set-default CA_ROTOR6_PY -0.12
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param set-default CA_ROTOR6_PZ 0.0
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param set-default CA_ROTOR6_CT 1.4
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param set-default CA_ROTOR6_AX 0.0
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param set-default CA_ROTOR6_AY 1.0
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param set-default CA_ROTOR6_AZ 0.0
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param set-default CA_ROTOR7_PX -0.12
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param set-default CA_ROTOR7_PY 0.12
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param set-default CA_ROTOR7_PZ 0.0
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param set-default CA_ROTOR7_CT 1.4
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param set-default CA_ROTOR7_AX 0.0
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param set-default CA_ROTOR7_AY -1.0
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param set-default CA_ROTOR7_AZ 0.0
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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_FUNC5 105
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param set-default SIM_GZ_EC_FUNC6 106
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param set-default SIM_GZ_EC_FUNC7 107
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param set-default SIM_GZ_EC_FUNC8 108
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param set-default SIM_GZ_EC_MIN1 0
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param set-default SIM_GZ_EC_MIN2 0
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param set-default SIM_GZ_EC_MIN3 0
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param set-default SIM_GZ_EC_MIN4 0
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param set-default SIM_GZ_EC_MIN5 0
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param set-default SIM_GZ_EC_MIN6 0
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param set-default SIM_GZ_EC_MIN7 0
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param set-default SIM_GZ_EC_MIN8 0
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param set-default SIM_GZ_EC_MAX1 10000
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param set-default SIM_GZ_EC_MAX2 10000
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param set-default SIM_GZ_EC_MAX3 10000
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param set-default SIM_GZ_EC_MAX4 10000
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param set-default SIM_GZ_EC_MAX5 10000
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param set-default SIM_GZ_EC_MAX6 10000
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param set-default SIM_GZ_EC_MAX7 10000
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param set-default SIM_GZ_EC_MAX8 10000
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# Controller Tunings
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param set SC_YAWRATE_P 3.335
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param set SC_YAWRATE_I 0.87
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param set SC_YAWRATE_D 0.15
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param set SC_YR_INT_LIM 0.2
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param set SC_YAW_P 3.0
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param set SPC_POS_P 0.20
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param set SPC_VEL_P 6.55
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param set SPC_VEL_I 0.0
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param set SPC_VEL_D 0.0
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param set SPC_VEL_MAX 12.0
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