mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
343cf5603e
- control allocation module with multirotor, VTOL standard, and tiltrotor support - angular_velocity_controller - See https://github.com/PX4/PX4-Autopilot/pull/13351 for details Co-authored-by: Silvan Fuhrer <silvan@auterion.com> Co-authored-by: Roman Bapst <bapstroman@gmail.com>
76 lines
1.6 KiB
Bash
76 lines
1.6 KiB
Bash
#!/bin/sh
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#
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# @name Typhoon H480 SITL
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#
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# @type Hexarotor x
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#
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sh /etc/init.d/rc.mc_defaults
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sh /etc/init.d/rc.ctrlalloc
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if [ $AUTOCNF = yes ]
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then
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param set MPC_XY_VEL_I_ACC 4
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param set MPC_XY_VEL_P_ACC 3
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param set RTL_DESCEND_ALT 10
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param set RTL_LAND_DELAY 0
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param set TRIG_INTERFACE 3
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param set TRIG_MODE 4
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param set MNT_MODE_IN 0
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param set MAV_PROTO_VER 2
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param set MPC_USE_HTE 0
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param set VM_MASS 2.66
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param set VM_INERTIA_XX 0.06
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param set VM_INERTIA_YY 0.06
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param set VM_INERTIA_ZZ 0.10
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param set CA_AIRFRAME 0
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param set CA_METHOD 1
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param set CA_ACT0_MIN 0.0
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param set CA_ACT1_MIN 0.0
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param set CA_ACT2_MIN 0.0
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param set CA_ACT3_MIN 0.0
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param set CA_ACT4_MIN 0.0
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param set CA_ACT5_MIN 0.0
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param set CA_ACT0_MAX 1.0
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param set CA_ACT1_MAX 1.0
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param set CA_ACT2_MAX 1.0
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param set CA_ACT3_MAX 1.0
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param set CA_ACT4_MAX 1.0
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param set CA_ACT5_MAX 1.0
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param set CA_MC_R0_PX 0.0
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param set CA_MC_R0_PY 1.0
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param set CA_MC_R0_CT 9.5
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param set CA_MC_R0_KM -0.05
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param set CA_MC_R1_PX 0.0
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param set CA_MC_R1_PY -1.0
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param set CA_MC_R1_CT 9.5
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param set CA_MC_R1_KM 0.05
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param set CA_MC_R2_PX 0.866025
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param set CA_MC_R2_PY -0.5
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param set CA_MC_R2_CT 9.5
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param set CA_MC_R2_KM -0.05
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param set CA_MC_R3_PX -0.866025
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param set CA_MC_R3_PY 0.5
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param set CA_MC_R3_CT 9.5
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param set CA_MC_R3_KM 0.05
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param set CA_MC_R4_PX 0.866025
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param set CA_MC_R4_PY 0.5
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param set CA_MC_R4_CT 9.5
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param set CA_MC_R4_KM 0.05
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param set CA_MC_R5_PX -0.866025
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param set CA_MC_R5_PY -0.5
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param set CA_MC_R5_CT 9.5
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param set CA_MC_R5_KM -0.05
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fi
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set MAV_TYPE 13
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# set MIXER hexa_x
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set MIXER direct
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