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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-19 01:43:35 +08:00
Ramon Roche
01dd41b7e8
rc.mc_defaults sets MAV_TYPE=2 (quadrotor) which the hex airframe never overrides. Set MAV_TYPE=13 (hexarotor) so the heartbeat correctly identifies the vehicle type. Signed-off-by: Ramon Roche <mrpollo@gmail.com>
50 lines
1.3 KiB
Bash
50 lines
1.3 KiB
Bash
#!/bin/sh
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#
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# @name HexarotorX SITL for SIH
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#
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# @type Hexarotor x
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# @class Copter
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#
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# @maintainer Matthias Grob <maetugr@gmail.com>
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#
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. ${R}etc/init.d/rc.mc_defaults
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PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=hex}
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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 SIH_VEHICLE_TYPE 4
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param set-default MAV_TYPE 13
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# Symmetric hexacopter X clockwise motor numbering
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param set-default CA_ROTOR_COUNT 6
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param set-default CA_ROTOR0_PX 0.866
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param set-default CA_ROTOR0_PY 0.5
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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_ROTOR2_PX -0.866
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param set-default CA_ROTOR2_PY 0.5
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param set-default CA_ROTOR3_PX -0.866
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param set-default CA_ROTOR3_PY -0.5
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param set-default CA_ROTOR3_KM -0.05
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param set-default CA_ROTOR4_PX 0
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param set-default CA_ROTOR4_PY -1
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param set-default CA_ROTOR5_PX 0.866
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param set-default CA_ROTOR5_PY -0.5
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param set-default CA_ROTOR5_KM -0.05
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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_FUNC3 103
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param set-default PWM_MAIN_FUNC4 104
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param set-default PWM_MAIN_FUNC5 105
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param set-default PWM_MAIN_FUNC6 106
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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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