mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 06:33:33 +08:00
Jacob Dahl
4b2e0a6f59
* sensors: add per-receiver GPS delay parameters
Add SENS_GPS{0,1}_DELAY params to vehicle_gps_position, following the
same device-ID matching pattern used for antenna offsets. Each receiver
can now have its own measurement delay relative to the IMU.
The delay is applied to timestamp_sample before blending. When PPS time
correction is active it takes priority over the parameter-based delay.
When a GPS driver already provides its own timestamp_sample the
per-receiver delay is not applied on top of it.
* fix(ekf2): remove EKF2_GPS_DELAY and perform param transation
* fix(param_translation): fix GPS param migration return values
Add missing return for EKF2_GPS_POS_Z and remove incorrect return for
EKF2_GPS_DELAY (1-to-many migration should not return PARAM_MODIFIED).
* fix(sensors,ekf2): rename pps_compensation and clarify delay default
* fix(ekf2): account for SENS_GPS*_DELAY in observation buffer sizing
* fix(docs): migrate EKF2_GPS_DELAY param
49 lines
1.3 KiB
Bash
49 lines
1.3 KiB
Bash
#!/bin/sh
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#
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# @name HexarotorX SITL for SIH
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#
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# @type Hexarotor x
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# @class Copter
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#
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# @maintainer Matthias Grob <maetugr@gmail.com>
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#
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. ${R}etc/init.d/rc.mc_defaults
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PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=hex}
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param set-default SENS_EN_GPSSIM 1
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param set-default SENS_EN_BAROSIM 1
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param set-default SENS_EN_MAGSIM 1
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param set SIH_VEHICLE_TYPE 4
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# Symmetric hexacopter X clockwise motor numbering
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param set-default CA_ROTOR_COUNT 6
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param set-default CA_ROTOR0_PX 0.866
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param set-default CA_ROTOR0_PY 0.5
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param set-default CA_ROTOR1_PX 0
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param set-default CA_ROTOR1_PY 1
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param set-default CA_ROTOR1_KM -0.05
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param set-default CA_ROTOR2_PX -0.866
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param set-default CA_ROTOR2_PY 0.5
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param set-default CA_ROTOR3_PX -0.866
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param set-default CA_ROTOR3_PY -0.5
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param set-default CA_ROTOR3_KM -0.05
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param set-default CA_ROTOR4_PX 0
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param set-default CA_ROTOR4_PY -1
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param set-default CA_ROTOR5_PX 0.866
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param set-default CA_ROTOR5_PY -0.5
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param set-default CA_ROTOR5_KM -0.05
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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 SENS_GPS0_DELAY 0
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param set-default SENS_GPS1_DELAY 0
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