mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-24 21:43:33 +08:00
Julian Oes
47bcee70c4
Without this, uavcan creates MixingOutput classes which then create empty actuator_outputs publications. This then prevents the motor output in HITL to be forwarded to the simulator via mavlink.
45 lines
1.0 KiB
Bash
45 lines
1.0 KiB
Bash
#!/bin/sh
|
|
#
|
|
# @name HIL Quadcopter X
|
|
#
|
|
# @type Simulation
|
|
# @class Copter
|
|
#
|
|
# @maintainer Lorenz Meier <lorenz@px4.io>
|
|
# @board px4_fmu-v2 exclude
|
|
#
|
|
|
|
. ${R}etc/init.d/rc.mc_defaults
|
|
|
|
set MIXER quad_x
|
|
|
|
param set SYS_HITL 1
|
|
|
|
param set UAVCAN_ENABLE 0
|
|
|
|
param set-default CA_ROTOR_COUNT 4
|
|
param set-default CA_ROTOR0_PX 0.15
|
|
param set-default CA_ROTOR0_PY 0.15
|
|
param set-default CA_ROTOR1_PX -0.15
|
|
param set-default CA_ROTOR1_PY -0.15
|
|
param set-default CA_ROTOR2_PX 0.15
|
|
param set-default CA_ROTOR2_PY -0.15
|
|
param set-default CA_ROTOR2_KM -0.05
|
|
param set-default CA_ROTOR3_PX -0.15
|
|
param set-default CA_ROTOR3_PY 0.15
|
|
param set-default CA_ROTOR3_KM -0.05
|
|
|
|
param set-default HIL_ACT_FUNC1 101
|
|
param set-default HIL_ACT_FUNC2 102
|
|
param set-default HIL_ACT_FUNC3 103
|
|
param set-default HIL_ACT_FUNC4 104
|
|
|
|
# disable some checks to allow to fly
|
|
# - with usb
|
|
param set-default CBRK_USB_CHK 197848
|
|
# - without real battery
|
|
param set-default CBRK_SUPPLY_CHK 894281
|
|
# - without safety switch
|
|
param set-default COM_PREARM_MODE 0
|
|
param set-default CBRK_IO_SAFETY 22027
|