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b26dd4d3f3
To separate accuracy requirements for VTOL hover and cruise. - global_position_relaxed refers to having a valid horizontal velocity aid source in the estimator and a set global reference position, but poses no requirements on the accuracy of the provided position estimate. - Auto flight modes Mission, Loiter and RTL, while in fixed-wing mode, only require the relaxed global position going forward - COM_POS_FS_EPH is thus no longer used on fixed-wing vehicles (resp. VTOL in FW) - rename failsafe_flags.local_position_accuracy_low to failsafe_flags.position_accuracy_low --------- Signed-off-by: RomanBapst <bapstroman@gmail.com> Signed-off-by: Silvan Fuhrer <silvan@auterion.com> Co-authored-by: Silvan <silvan@auterion.com>
45 lines
1.1 KiB
Bash
45 lines
1.1 KiB
Bash
#!/bin/sh
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#
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# VTOL 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 vtol
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# MAV_TYPE_VTOL_FIXEDROTOR 22
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param set-default MAV_TYPE 22
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param set-default COM_POS_LOW_EPH 50
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param set-default MIS_TAKEOFF_ALT 20
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param set-default MIS_YAW_TMT 10
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param set-default EKF2_ARSP_THR 10
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param set-default EKF2_FUSE_BETA 1
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param set-default HTE_VXY_THR 2
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param set-default MIS_TKO_LAND_REQ 2
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param set-default MPC_ACC_HOR_MAX 2
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param set-default MPC_VEL_MANUAL 5
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param set-default MPC_XY_ERR_MAX 5
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param set-default MPC_XY_VEL_MAX 8
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param set-default MPC_JERK_MAX 4.5
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param set-default MPC_YAW_MODE 4
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# reduce aggressiveness around roll and yaw axis,
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# as VTOLs usually have high intertia and lot af drag due to wings
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param set-default MC_ROLL_P 5
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param set-default MC_ROLLRATE_MAX 120
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param set-default MC_YAW_P 2
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param set-default MC_YAWRATE_MAX 120
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param set-default MPC_MAN_Y_MAX 90
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param set-default RTL_TYPE 1
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param set-default SYS_HAS_NUM_ASPD 1 # by default require an airspeed sensor
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param set-default WV_EN 1
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