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Silvan FuhrerandJaeyoung-Lim
d4d02f449f
* tailsitter SITL: improve hover tuning Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * Add SITL testing for tailsitter VTOLs This enables SITL testing for Tailsitter vehicles Co-authored-by: Jaeyoung-Lim <jaeyoung@auterion.com>
45 lines
791 B
Bash
45 lines
791 B
Bash
#!/bin/sh
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#
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# @name Quadrotor + Tailsitter
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#
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# @type VTOL Quad Tailsitter
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#
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. ${R}etc/init.d/rc.vtol_defaults
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if [ $AUTOCNF = yes ]
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then
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param set FW_AIRSPD_MAX 25
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param set FW_AIRSPD_MIN 14
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param set FW_AIRSPD_TRIM 16
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param set FW_L1_PERIOD 12
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param set MC_ROLLRATE_P 0.3
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param set MIS_YAW_TMT 10
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param set MPC_ACC_HOR_MAX 2
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param set MPC_ACC_HOR_MAX 2
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param set MPC_THR_MIN 0.3
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param set MPC_XY_P 0.15
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param set MPC_XY_VEL_D_ACC 0.1
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param set MPC_XY_VEL_P_ACC 1
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param set MPC_Z_VEL_MAX_DN 1.5
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param set MPC_Z_VEL_P_ACC 16
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param set NAV_ACC_RAD 5
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param set NAV_LOITER_RAD 80
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param set VT_F_TRANS_DUR 1.5
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param set VT_F_TRANS_THR 0.7
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param set VT_TYPE 0
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param set WV_EN 0
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fi
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set MAV_TYPE 20
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set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
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set MIXER custom
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