mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-20 11:43:35 +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
1.8 KiB
Bash
68 lines
1.8 KiB
Bash
#!/bin/sh
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#
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# @name SIH Tailsitter Duo
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#
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# @type VTOL
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#
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# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
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. ${R}etc/init.d/rc.vtol_defaults
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PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}
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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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param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
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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 VT_B_TRANS_DUR 5
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param set-default VT_ELEV_MC_LOCK 0
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param set-default VT_TYPE 0
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param set-default VT_FW_DIFTHR_EN 1
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param set-default VT_FW_DIFTHR_S_Y 0.3
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param set-default MPC_MAN_Y_MAX 60
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param set-default MC_PITCH_P 5
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param set-default MAV_TYPE 19
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param set-default SIH_T_MAX 2
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param set-default SIH_Q_MAX 0.0165
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param set-default SIH_MASS 0.2
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# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
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param set-default SIH_IXX 0.00354
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param set-default SIH_IYY 0.000625
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param set-default SIH_IZZ 0.00300
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param set-default SIH_IXZ 0
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param set-default SIH_KDV 0.2
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param set-default SIH_L_ROLL 0.145
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# sih as tailsitter
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param set-default SIH_VEHICLE_TYPE 2
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param set-default CA_AIRFRAME 4
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param set-default CA_ROTOR_COUNT 2
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param set-default CA_ROTOR0_PX 0
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param set-default CA_ROTOR0_PY 1
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param set-default CA_ROTOR0_KM 0.05
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param set-default CA_ROTOR1_PX 0
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param set-default CA_ROTOR1_PY -1
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param set-default CA_ROTOR1_KM 0.05
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param set-default CA_SV_CS_COUNT 2
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param set-default CA_SV_CS0_TYPE 5
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param set-default CA_SV_CS0_TRQ_P 0.5
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param set-default CA_SV_CS0_TRQ_Y -0.5
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param set-default CA_SV_CS1_TYPE 6
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param set-default CA_SV_CS1_TRQ_P 0.5
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param set-default CA_SV_CS1_TRQ_Y 0.5
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param set-default PWM_MAIN_FUNC1 101
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param set-default PWM_MAIN_FUNC2 102
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param set-default PWM_MAIN_FUNC5 201
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param set-default PWM_MAIN_FUNC6 202
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