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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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4cd7dfa162
Replace the existing check for the availability of a takeoff mission item with a combined check for takeoff and landing item (or landing pattern). New param MIS_TKO_LAND_REQ can be set to require only a takeoff, only a landing, both takeoff and landing, and both or none. The latter is meant to be set if is e.g. deemed unsafe to start a flight through a Takeoff WP without though defining a Landing - as then in case of a RTL the vehicle doesn't follow a pre-defined path but instead only can do default RTL that especially for FW and VTOL isn't always safe. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
43 lines
1.0 KiB
Bash
43 lines
1.0 KiB
Bash
#!/bin/sh
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#
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# VTOL 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 vtol
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# MAV_TYPE_VTOL_FIXEDROTOR 22
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param set-default MAV_TYPE 22
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param set-default MIS_TAKEOFF_ALT 20
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param set-default MIS_YAW_TMT 10
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param set-default EKF2_ARSP_THR 10
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param set-default EKF2_FUSE_BETA 1
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param set-default HTE_VXY_THR 2.0
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param set-default MIS_DIST_WPS 5000
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param set-default MIS_TKO_LAND_REQ 2
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param set-default MPC_ACC_HOR_MAX 2
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param set-default MPC_VEL_MANUAL 5
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param set-default MPC_XY_CRUISE 5
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param set-default MPC_XY_ERR_MAX 5
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param set-default MPC_XY_VEL_MAX 8
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param set-default MPC_JERK_MAX 4.5
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param set-default MPC_YAW_MODE 4
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# reduce aggressiveness around roll and yaw axis,
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# as VTOLs usually have high intertia and lot af drag due to wings
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param set-default MC_ROLL_P 5
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param set-default MC_ROLLRATE_MAX 120
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param set-default MC_YAW_P 2
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param set-default MC_YAWRATE_MAX 120
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param set-default MPC_MAN_Y_MAX 90
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param set-default RTL_TYPE 1
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param set-default WV_EN 1
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