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0941ae7579
MIS_LTRMIN_ALt was used to limit the go-to altitude of a LOITER_TO_ALT (not the exit altitude, but the altitude that the vehicle went to to fly to WP), and during landing abort to climb to at least this altitude. The min entry altitude of LOITER_TO_ALT I remove with this commit, while for the min alt during abort I added the new parameter MIS_LND_ABRT_ALT. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
53 lines
1.3 KiB
Bash
53 lines
1.3 KiB
Bash
#!/bin/sh
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#
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# Fixed wing default parameters
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#
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# NOTE: Script variables are declared/initialized/unset in the rcS script.
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#
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set VEHICLE_TYPE fw
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# MAV_TYPE_FIXED_WING 1
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param set-default MAV_TYPE 1
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#
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# Default parameters for fixed wing UAVs.
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#
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param set-default COM_POS_FS_DELAY 5
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param set-default COM_POS_FS_EPH 15
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param set-default COM_POS_FS_EPV 30
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param set-default COM_VEL_FS_EVH 5
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# Disable preflight disarm to not interfere with external launching
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param set-default COM_DISARM_PRFLT -1
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param set-default EKF2_ARSP_THR 8
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param set-default EKF2_FUSE_BETA 1
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param set-default EKF2_GPS_CHECK 21
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param set-default EKF2_MAG_ACCLIM 0
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param set-default EKF2_MAG_YAWLIM 0
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param set-default EKF2_REQ_EPH 10
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param set-default EKF2_REQ_EPV 10
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param set-default EKF2_REQ_HDRIFT 0.5
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param set-default EKF2_REQ_SACC 1
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param set-default EKF2_REQ_VDRIFT 1.0
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param set-default RTL_TYPE 1
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param set-default RTL_RETURN_ALT 100
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param set-default RTL_DESCEND_ALT 100
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param set-default RTL_LAND_DELAY -1
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#
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# FW uses L1 distance for acceptance radius.
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# Set a smaller NAV_ACC_RAD for vertical acceptance distance.
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#
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param set-default NAV_ACC_RAD 10
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param set-default MIS_DIST_WPS 5000
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param set-default MIS_TAKEOFF_ALT 25
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param set-default MIS_TKO_LAND_REQ 2
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#
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# FW takeoff acceleration can easily exceed ublox GPS 2G default.
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#
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param set-default GPS_UBX_DYNMODEL 8
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