mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 19:53:34 +08:00
Daniel AgarandBeat Küng
089c962d92
Using mixers on the IO side had a remote benefit of being able to override all control surfaces with a radio remote on a fixed wing. This ended up not being used that much and since the original design 10 years ago (2011) we have been able to convince ourselves that the overall system stability is at a level where this marginal benefit, which is not present on multicopters, is not worth the hazzle. Co-authored-by: Beat Küng <beat-kueng@gmx.net> Co-authored-by: Daniel Agar <daniel@agar.ca>
82 lines
1.9 KiB
Bash
82 lines
1.9 KiB
Bash
#!/bin/sh
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#
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# @name HIL Standard VTOL QuadPlane
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#
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# @type Standard VTOL
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# @class VTOL
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#
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# @maintainer Roman Bapst <roman@auterion.com>
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#
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# @board px4_fmu-v2 exclude
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# @board bitcraze_crazyflie exclude
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#
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. ${R}etc/init.d/rc.vtol_defaults
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param set-default BAT1_N_CELLS 3
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param set-default COM_RC_IN_MODE 1
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param set-default EKF2_AID_MASK 1
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param set-default EKF2_ANGERR_INIT 0.01
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param set-default EKF2_GBIAS_INIT 0.01
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param set-default EKF2_HGT_MODE 0
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param set-default EKF2_MAG_TYPE 1
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param set-default FW_AIRSPD_MAX 25
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param set-default FW_AIRSPD_MIN 14
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param set-default FW_AIRSPD_TRIM 16
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param set-default MC_PITCH_P 6
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param set-default MC_PITCHRATE_P 0.2
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param set-default MC_ROLL_P 6
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param set-default MC_ROLLRATE_P 0.3
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param set-default MIS_LTRMIN_ALT 10
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param set-default MIS_TAKEOFF_ALT 10
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param set-default MIS_YAW_TMT 10
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param set-default MPC_ACC_HOR_MAX 2
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param set-default MPC_ACC_HOR_MAX 2
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param set-default MPC_THR_MIN 0.1
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param set-default MPC_TKO_SPEED 1
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param set-default MPC_XY_P 0.8
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param set-default MPC_XY_VEL_D_ACC 0.1
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param set-default MPC_XY_VEL_I_ACC 4
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param set-default MPC_XY_VEL_P_ACC 3
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param set-default MPC_Z_VEL_P_ACC 12
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param set-default MPC_Z_VEL_I_ACC 3
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param set-default MPC_Z_VEL_MAX_DN 1.5
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param set-default NAV_ACC_RAD 5
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param set-default NAV_DLL_ACT 2
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param set-default NAV_LOITER_RAD 80
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param set-default RTL_DESCEND_ALT 10
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param set-default RTL_RETURN_ALT 30
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param set-default SDLOG_DIRS_MAX 7
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param set-default VT_F_TRANS_THR 0.75
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param set-default VT_MOT_ID 1234
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param set-default VT_FW_MOT_OFFID 1234
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param set-default VT_TYPE 2
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param set SYS_HITL 1
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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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set MAV_TYPE 22
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set MIXER standard_vtol_hitl
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set PWM_OUT 1234
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