mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-22 01:00:35 +08:00
Beat Küng
64 lines
1.5 KiB
Bash
64 lines
1.5 KiB
Bash
#!/bin/sh
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#
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# @name SIH plane AERT
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#
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# @type Simulation
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# @class Plane
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#
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# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
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#
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# @board px4_fmu-v2 exclude
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#
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. ${R}etc/init.d/rc.fw_defaults
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set MIXER AERT
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set PWM_OUT 1234
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param set UAVCAN_ENABLE 0
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param set-default CA_AIRFRAME 1
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param set-default CA_ROTOR_COUNT 1
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param set-default CA_ROTOR0_PX 0.3
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param set-default CA_SV_CS_COUNT 4
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param set-default CA_SV_CS0_TRQ_R 0.5
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param set-default CA_SV_CS0_TYPE 2
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param set-default CA_SV_CS1_TRQ_P 1.0
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param set-default CA_SV_CS1_TYPE 3
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param set-default CA_SV_CS2_TRQ_Y 1.0
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param set-default CA_SV_CS2_TYPE 4
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param set-default CA_SV_CS3_TYPE 10
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param set-default HIL_ACT_REV 2
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param set-default HIL_ACT_FUNC1 201
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param set-default HIL_ACT_FUNC2 202
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param set-default HIL_ACT_FUNC3 203
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param set-default HIL_ACT_FUNC4 101
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param set-default HIL_ACT_FUNC5 204
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param set-default HIL_ACT_FUNC6 400
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# set SYS_HITL to 2 to start the SIH and avoid sensors startup
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param set-default SYS_HITL 2
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# disable some checks to allow to fly:
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# - with usb
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param set-default CBRK_USB_CHK 197848
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# - without real battery
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param set-default CBRK_SUPPLY_CHK 894281
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# - without safety switch
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param set-default COM_PREARM_MODE 0
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param set-default CBRK_IO_SAFETY 22027
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param set-default BAT_N_CELLS 3
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param set SIH_T_MAX 6.0
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param set SIH_MASS 0.3
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param set SIH_IXX 0.00402
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param set SIH_IYY 0.0144
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param set SIH_IZZ 0.0177
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param set SIH_IXZ 0.00046
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param set SIH_KDV 0.2
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param set SIH_VEHICLE_TYPE 1 # sih as fixed wing
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param set RWTO_TKOFF 1 # enable takeoff from runway (as opposed to launched)
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