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Ramon Roche
2fc70dea3e
Add px4_sitl_sih board configuration (Gazebo disabled) and airframe 10046_sihsim_quadx_vision for GPS-based SIH multi-instance swarm simulation. The airframe enables simulated GPS, baro, and mag sensors with standard quadrotor X configuration. Signed-off-by: Ramon Roche <mrpollo@gmail.com>
39 lines
970 B
Bash
39 lines
970 B
Bash
#!/bin/sh
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#
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# @name QuadrotorX SITL for SIH (Swarm)
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#
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# @type Quadrotor
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#
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# @maintainer Ramon Roche <mrpollo@gmail.com>
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#
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. ${R}etc/init.d/rc.mc_defaults
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PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadx}
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# Simulated sensors: GPS + baro + mag
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param set-default SENS_EN_GPSSIM 1
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param set-default SENS_EN_BAROSIM 1
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param set-default SENS_EN_MAGSIM 1
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# Square quadrotor X PX4 numbering
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param set-default CA_ROTOR_COUNT 4
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param set-default CA_ROTOR0_PX 1
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param set-default CA_ROTOR0_PY 1
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param set-default CA_ROTOR1_PX -1
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param set-default CA_ROTOR1_PY -1
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param set-default CA_ROTOR2_PX 1
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param set-default CA_ROTOR2_PY -1
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param set-default CA_ROTOR2_KM -0.05
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param set-default CA_ROTOR3_PX -1
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param set-default CA_ROTOR3_PY 1
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param set-default CA_ROTOR3_KM -0.05
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param set-default PWM_MAIN_FUNC1 101
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param set-default PWM_MAIN_FUNC2 102
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param set-default PWM_MAIN_FUNC3 103
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param set-default PWM_MAIN_FUNC4 104
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param set SIH_VEHICLE_TYPE 0
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