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b55ae09f00
This change adds the line "param set RTL_TYPE 1" to the default init scripts for fixed wing. Similar to the other PR that sets default RTL_TYPE=1 for VTOLs, RTL_TYPE=1 should be default for normal fixed wings as well. Reference: https://github.com/PX4/Firmware/pull/12746/files
62 lines
1.2 KiB
Bash
62 lines
1.2 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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if [ $AUTOCNF = yes ]
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then
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#
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# Default parameters for fixed wing UAVs.
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#
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param set COM_POS_FS_DELAY 5
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param set COM_POS_FS_EPH 15
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param set COM_POS_FS_EPV 30
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param set COM_POS_FS_GAIN 0
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param set COM_POS_FS_PROB 1
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param set COM_VEL_FS_EVH 5
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param set EKF2_ARSP_THR 8
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param set EKF2_FUSE_BETA 1
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param set EKF2_GPS_CHECK 21
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param set EKF2_MAG_ACCLIM 0
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param set EKF2_MAG_YAWLIM 0
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param set EKF2_REQ_EPH 10
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param set EKF2_REQ_EPV 10
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param set EKF2_REQ_HDRIFT 0.5
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param set EKF2_REQ_SACC 1
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param set EKF2_REQ_VDRIFT 1.0
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param set RTL_TYPE 1
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param set RTL_RETURN_ALT 100
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param set RTL_DESCEND_ALT 100
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param set 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 NAV_ACC_RAD 10
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param set MIS_LTRMIN_ALT 25
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param set MIS_TAKEOFF_ALT 25
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param set PWM_RATE 50
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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 GPS_UBX_DYNMODEL 8
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fi
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#
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# This is the gimbal pass mixer.
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#
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set MIXER_AUX pass
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set PWM_AUX_RATE 50
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set PWM_AUX_OUT 1234
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