mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-26 04:23:33 +08:00
Lorenz Meier
171ccd1203
The main changes include: * Better attitude tuning for airframes (more realistic models, the models had previously not as much thrust as the real vehicles) * Better waypoint and navigation default parameters which match the on-hardware parameters * More suitable minimum and trim airspeeds for VTOL and fixed wing which prevents stalls that happened in SITL previously (the new airspeeds match the real vehicles nicely)
98 lines
2.6 KiB
Plaintext
98 lines
2.6 KiB
Plaintext
uorb start
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param load
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param set MAV_TYPE 22
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param set VT_TYPE 2
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param set VT_MOT_COUNT 4
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param set VT_TRANS_THR 0.75
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param set SYS_AUTOSTART 13006
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param set SYS_RESTART_TYPE 2
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param set SYS_MC_EST_GROUP 2
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dataman start
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param set BAT_N_CELLS 3
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param set CAL_GYRO0_ID 2293768
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param set CAL_ACC0_ID 1376264
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param set CAL_ACC1_ID 1310728
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param set CAL_MAG0_ID 196616
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param set CAL_GYRO0_XOFF 0.01
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param set CAL_ACC0_XOFF 0.01
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param set CAL_ACC0_YOFF -0.01
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param set CAL_ACC0_ZOFF 0.01
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param set CAL_ACC0_XSCALE 1.01
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param set CAL_ACC0_YSCALE 1.01
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param set CAL_ACC0_ZSCALE 1.01
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param set CAL_ACC1_XOFF 0.01
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param set CAL_MAG0_XOFF 0.01
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param set MC_ROLLRATE_P 0.3
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param set MC_PITCHRATE_P 0.2
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param set MC_PITCH_P 6
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param set MC_ROLL_P 6
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param set MPC_XY_P 0.8
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param set MPC_ACC_HOR_MAX 2.0
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param set MPC_XY_VEL_P 0.15
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param set MPC_XY_VEL_I 0.2
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param set MPC_XY_VEL_D 0.005
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param set MPC_XY_FF 0.1
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param set MPC_Z_VEL_MAX 1.5
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param set MPC_Z_VEL_P 0.6
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param set MPC_Z_VEL_I 0.15
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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_AIRSPD_MAX 25
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param set SENS_BOARD_ROT 0
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param set SENS_DPRES_OFF 0.001
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param set SENS_BOARD_X_OFF 0.000001
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param set COM_RC_IN_MODE 1
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param set NAV_DLL_ACT 2
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param set NAV_ACC_RAD 5.0
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param set NAV_LOITER_RAD 80
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param set MPC_TKO_SPEED 1.0
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param set MIS_LTRMIN_ALT 10
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param set MIS_TAKEOFF_ALT 10
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param set MIS_YAW_TMT 10
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param set RTL_RETURN_ALT 30.0
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param set RTL_DESCEND_ALT 10.0
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param set RTL_LAND_DELAY 0
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param set COM_DISARM_LAND 5
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param set MPC_ACC_HOR_MAX 2
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param set EKF2_GBIAS_INIT 0.01
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param set EKF2_ANGERR_INIT 0.01
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param set EKF2_MAG_TYPE 1
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replay tryapplyparams
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simulator start -s
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rgbledsim start
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tone_alarm start
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gyrosim start
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accelsim start
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barosim start
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adcsim start
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gpssim start
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measairspeedsim start
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pwm_out_sim mode_pwm
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sleep 1
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sensors start
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commander start
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land_detector start multicopter
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navigator start
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ekf2 start
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vtol_att_control start
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mc_pos_control start
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mc_att_control start
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fw_pos_control_l1 start
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fw_att_control start
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mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
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mavlink start -u 14556 -r 2000000
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mavlink start -u 14557 -r 2000000 -m onboard -o 14540
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mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14540
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mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
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mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
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mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
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mavlink stream -r 80 -s ATTITUDE -u 14556
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mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
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mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
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mavlink stream -r 20 -s RC_CHANNELS -u 14556
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mavlink stream -r 250 -s HIGHRES_IMU -u 14556
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mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
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logger start -e -t
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mavlink boot_complete
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replay trystart
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