mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-21 08:43:33 +08:00
Matthias Grob
e0cdcdb436
In an effort to reduce configuration space. I've not seen use for this option. If a pilot flies manually in position mode he has some visual reference of the vehicle and can do better than an autonomous mode without position reference. Also by now we have nudging in Descend mode so the pilot can still give input and the only difference is it automatically goes down instead of the pilot having to descend by stick to land.
155 lines
4.7 KiB
Bash
155 lines
4.7 KiB
Bash
#!/bin/sh
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#
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# @name BlueROV2 (Heavy Configuration)
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#
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# @type Vectored 6 DOF UUV
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# @class Underwater Robot
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#
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# @output Motor1 motor 1 CCW, bow starboard horizontal, , propeller CCW
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# @output Motor2 motor 2 CCW, bow port horizontal, propeller CCW
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# @output Motor3 motor 3 CCW, stern starboard horizontal, propeller CW
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# @output Motor4 motor 4 CCW, stern port horizontal, propeller CW
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# @output Motor5 motor 5 CCW, bow starboard vertical, propeller CCW
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# @output Motor6 motor 6 CCW, bow port vertical, propeller CW
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# @output Motor7 motor 7 CCW, stern starboard vertical, propeller CW
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# @output Motor8 motor 8 CCW, stern port vertical, propeller CCW
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#
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# @maintainer Thies Lennart Alff <thies.lennart.alff@tuhh.de>
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#
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# @board px4_fmu-v2 exclude
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# @board bitcraze_crazyflie exclude
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#
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. ${R}etc/init.d/rc.uuv_defaults
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# param set-default MAV_1_CONFIG 102
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param set-default BAT1_A_PER_V 37.8798
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param set-default BAT1_CAPACITY 18000
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param set-default BAT1_V_DIV 11
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param set-default BAT1_N_CELLS 4
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param set-default BAT_V_OFFS_CURR 0.33
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# Set parameters using `param` utility for SITL
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param set-default CA_AIRFRAME 7
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param set-default CA_METHOD 0
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param set-default MAV_TYPE 12
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# Board rotation: set to direct replacement of RPi with PX4
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# with forward facing vehicle forward
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param set-default SENS_BOARD_ROT 16
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# Set proper failsafes
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param set-default COM_ACT_FAIL_ACT 0
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param set-default COM_LOW_BAT_ACT 0
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param set-default NAV_DLL_ACT 0
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param set-default GF_ACTION 1
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param set-default NAV_RCL_ACT 1
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# disable attitude failure detection
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param set-default FD_FAIL_P 0
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param set-default FD_FAIL_R 0
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param set-default CA_ROTOR_COUNT 8
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param set-default CA_R_REV 255
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param set-default CA_ROTOR0_AX 1
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param set-default CA_ROTOR0_AY -1
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param set-default CA_ROTOR0_AZ 0
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param set-default CA_ROTOR0_KM 0
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param set-default CA_ROTOR0_PX 0.14
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param set-default CA_ROTOR0_PY 0.10
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param set-default CA_ROTOR0_PZ 0.06
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param set-default CA_ROTOR1_AX 1
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param set-default CA_ROTOR1_AY 1
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param set-default CA_ROTOR1_AZ 0
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param set-default CA_ROTOR1_KM 0
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param set-default CA_ROTOR1_PX 0.14
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param set-default CA_ROTOR1_PY -0.10
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param set-default CA_ROTOR1_PZ 0.06
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param set-default CA_ROTOR2_AX 1
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param set-default CA_ROTOR2_AY 1
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param set-default CA_ROTOR2_AZ 0
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param set-default CA_ROTOR2_KM 0
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param set-default CA_ROTOR2_PX -0.14
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param set-default CA_ROTOR2_PY 0.10
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param set-default CA_ROTOR2_PZ 0.06
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param set-default CA_ROTOR3_AX 1
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param set-default CA_ROTOR3_AY -1
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param set-default CA_ROTOR3_AZ 0
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param set-default CA_ROTOR3_KM 0
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param set-default CA_ROTOR3_PX -0.14
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param set-default CA_ROTOR3_PY -0.10
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param set-default CA_ROTOR3_PZ 0.06
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param set-default CA_ROTOR4_AX 0
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param set-default CA_ROTOR4_AY 0
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param set-default CA_ROTOR4_AZ -1
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param set-default CA_ROTOR4_KM 0
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param set-default CA_ROTOR4_PX 0.12
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param set-default CA_ROTOR4_PY 0.22
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param set-default CA_ROTOR4_PZ 0
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param set-default CA_ROTOR5_AX 0
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param set-default CA_ROTOR5_AY 0
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param set-default CA_ROTOR5_AZ 1
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param set-default CA_ROTOR5_KM 0
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param set-default CA_ROTOR5_PX 0.12
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param set-default CA_ROTOR5_PY -0.22
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param set-default CA_ROTOR5_PZ 0
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param set-default CA_ROTOR6_AX 0
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param set-default CA_ROTOR6_AY 0
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param set-default CA_ROTOR6_AZ 1
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param set-default CA_ROTOR6_KM 0
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param set-default CA_ROTOR6_PX -0.12
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param set-default CA_ROTOR6_PY 0.22
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param set-default CA_ROTOR6_PZ 0
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param set-default CA_ROTOR7_AX 0
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param set-default CA_ROTOR7_AY 0
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param set-default CA_ROTOR7_AZ -1
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param set-default CA_ROTOR7_KM 0
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param set-default CA_ROTOR7_PX -0.12
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param set-default CA_ROTOR7_PY -0.22
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param set-default CA_ROTOR7_PZ 0
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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 PWM_MAIN_FUNC7 107
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param set-default PWM_MAIN_FUNC8 108
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param set-default PWM_MAIN_MIN1 1100
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param set-default PWM_MAIN_MIN2 1100
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param set-default PWM_MAIN_MIN3 1100
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param set-default PWM_MAIN_MIN4 1100
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param set-default PWM_MAIN_MIN5 1100
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param set-default PWM_MAIN_MIN6 1100
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param set-default PWM_MAIN_MIN7 1100
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param set-default PWM_MAIN_MIN8 1100
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param set-default PWM_MAIN_MAX1 1900
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param set-default PWM_MAIN_MAX2 1900
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param set-default PWM_MAIN_MAX3 1900
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param set-default PWM_MAIN_MAX4 1900
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param set-default PWM_MAIN_MAX5 1900
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param set-default PWM_MAIN_MAX6 1900
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param set-default PWM_MAIN_MAX7 1900
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param set-default PWM_MAIN_MAX8 1900
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param set-default PWM_MAIN_DIS1 1500
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param set-default PWM_MAIN_DIS2 1500
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param set-default PWM_MAIN_DIS3 1500
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param set-default PWM_MAIN_DIS4 1500
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param set-default PWM_MAIN_DIS5 1500
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param set-default PWM_MAIN_DIS6 1500
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param set-default PWM_MAIN_DIS7 1500
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param set-default PWM_MAIN_DIS8 1500
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