mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-15 14:31:35 +08:00
Silvan Fuhrer
98d07ad1f3
The attitude frame is wrong for tailsitters doing side slip fusion for wind estimation. It doesn't take into account that the frames is 90deg tilted in FW flight. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
82 lines
2.1 KiB
Bash
82 lines
2.1 KiB
Bash
#!/bin/sh
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#
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# @name SIH Tailsitter Duo
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#
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# @type Simulation
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# @class VTOL
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#
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# @output Motor1 motor right
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# @output Motor2 motor left
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# @output Servo1 elevon right
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# @output Servo2 elevon left
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#
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# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
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#
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# @board px4_fmu-v2 exclude
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#
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. ${R}etc/init.d/rc.vtol_defaults
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param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
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param set UAVCAN_ENABLE 0
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param set-default VT_ELEV_MC_LOCK 0
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param set-default VT_MOT_COUNT 2
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param set-default VT_TYPE 0
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param set-default VT_FW_DIFTHR_EN 1
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param set-default VT_FW_DIFTHR_S_Y 0.3
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param set-default MPC_MAN_Y_MAX 60
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param set-default MC_PITCH_P 5
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param set-default CA_AIRFRAME 4
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param set-default CA_ROTOR_COUNT 2
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param set-default CA_ROTOR0_KM -0.05
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param set-default CA_ROTOR0_PY 0.2
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param set-default CA_ROTOR1_KM -0.05
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param set-default CA_ROTOR1_PY -0.2
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param set-default CA_SV_CS_COUNT 2
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param set-default CA_SV_CS0_TRQ_P 0.3
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param set-default CA_SV_CS0_TRQ_Y 0.3
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param set-default CA_SV_CS0_TYPE 5
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param set-default CA_SV_CS1_TRQ_P 0.3
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param set-default CA_SV_CS1_TRQ_Y -0.3
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param set-default CA_SV_CS1_TYPE 6
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param set-default HIL_ACT_FUNC1 101
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param set-default HIL_ACT_FUNC2 102
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param set-default HIL_ACT_FUNC5 202
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param set-default HIL_ACT_FUNC6 201
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param set-default HIL_ACT_REV 32
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param set-default MAV_TYPE 19
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# set SYS_HITL to 2 to start the SIH and avoid sensors startup
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param set-default SYS_HITL 2
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# disable some checks to allow to fly:
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# - with usb
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param set-default CBRK_USB_CHK 197848
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# - without real battery
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param set-default CBRK_SUPPLY_CHK 894281
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# - without safety switch
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param set-default COM_PREARM_MODE 0
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param set-default CBRK_IO_SAFETY 22027
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param set-default BAT_N_CELLS 3
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param set SIH_T_MAX 2.0
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param set SIH_Q_MAX 0.0165
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param set SIH_MASS 0.2
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# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
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param set SIH_IXX 0.00354
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param set SIH_IYY 0.000625
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param set SIH_IZZ 0.00300
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param set SIH_IXZ 0.0
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param set SIH_KDV 0.2
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param set SIH_L_ROLL 0.145
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# sih as tailsitter
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param set SIH_VEHICLE_TYPE 2
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