mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-24 20:23:34 +08:00
Jacob Dahl
4b2e0a6f59
* sensors: add per-receiver GPS delay parameters
Add SENS_GPS{0,1}_DELAY params to vehicle_gps_position, following the
same device-ID matching pattern used for antenna offsets. Each receiver
can now have its own measurement delay relative to the IMU.
The delay is applied to timestamp_sample before blending. When PPS time
correction is active it takes priority over the parameter-based delay.
When a GPS driver already provides its own timestamp_sample the
per-receiver delay is not applied on top of it.
* fix(ekf2): remove EKF2_GPS_DELAY and perform param transation
* fix(param_translation): fix GPS param migration return values
Add missing return for EKF2_GPS_POS_Z and remove incorrect return for
EKF2_GPS_DELAY (1-to-many migration should not return PARAM_MODIFIED).
* fix(sensors,ekf2): rename pps_compensation and clarify delay default
* fix(ekf2): account for SENS_GPS*_DELAY in observation buffer sizing
* fix(docs): migrate EKF2_GPS_DELAY param
68 lines
1.9 KiB
Bash
68 lines
1.9 KiB
Bash
#!/bin/sh
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#
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# @name Plane SITL for SIH
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#
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# @type Plane
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#
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# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
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. ${R}etc/init.d/rc.fw_defaults
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PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=airplane}
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param set-default SENS_EN_GPSSIM 1
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param set-default SENS_EN_BAROSIM 1
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param set-default SENS_EN_MAGSIM 1
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param set-default SENS_EN_ARSPDSIM 1
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param set-default SIH_T_MAX 6
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param set-default SIH_MASS 0.3
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param set-default SIH_IXX 0.00402
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param set-default SIH_IYY 0.0144
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param set-default SIH_IZZ 0.0177
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param set-default SIH_IXZ 0.00046
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param set-default SIH_KDV 0.2
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param set-default SIH_VEHICLE_TYPE 1 # sih as fixed wing
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param set-default RWTO_TKOFF 1 # enable takeoff from runway (as opposed to launched)
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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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# SIH for now hardcodes this configuration which we need to match in the airframe files.
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param set-default CA_SV_CS_COUNT 3
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param set-default CA_SV_CS0_TRQ_R 1
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param set-default CA_SV_CS0_TYPE 15 # single channel aileron
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param set-default CA_SV_CS1_TRQ_P 1
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param set-default CA_SV_CS1_TYPE 3 # elevator
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param set-default CA_SV_CS2_TRQ_Y 1
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param set-default CA_SV_CS2_TYPE 4 # rudder
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param set-default PWM_MAIN_FUNC1 201
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param set-default PWM_MAIN_FUNC2 202
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param set-default PWM_MAIN_FUNC3 203
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param set-default PWM_MAIN_FUNC4 101
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param set-default SENS_GPS0_DELAY 0
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param set-default SENS_GPS1_DELAY 0
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# Rate controllers
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param set-default FW_RR_P 0.0500
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param set-default FW_RR_I 2.0000
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param set-default FW_RR_D 0.0000
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param set-default FW_RR_FF 0.0000
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param set-default FW_RR_IMAX 1.0000
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param set-default FW_PR_P 0.0800
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param set-default FW_PR_I 2.5000
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param set-default FW_PR_D 0.0000
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param set-default FW_PR_FF 0.0000
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param set-default FW_PR_IMAX 1.0000
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param set-default FW_YR_P 0.0500
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param set-default FW_YR_I 3.0000
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param set-default FW_YR_D 0.0000
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param set-default FW_YR_FF 0.0000
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param set-default FW_YR_IMAX 1.0000
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