mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 00:13:34 +08:00
Jacob Dahl
4b2e0a6f59
* sensors: add per-receiver GPS delay parameters
Add SENS_GPS{0,1}_DELAY params to vehicle_gps_position, following the
same device-ID matching pattern used for antenna offsets. Each receiver
can now have its own measurement delay relative to the IMU.
The delay is applied to timestamp_sample before blending. When PPS time
correction is active it takes priority over the parameter-based delay.
When a GPS driver already provides its own timestamp_sample the
per-receiver delay is not applied on top of it.
* fix(ekf2): remove EKF2_GPS_DELAY and perform param transation
* fix(param_translation): fix GPS param migration return values
Add missing return for EKF2_GPS_POS_Z and remove incorrect return for
EKF2_GPS_DELAY (1-to-many migration should not return PARAM_MODIFIED).
* fix(sensors,ekf2): rename pps_compensation and clarify delay default
* fix(ekf2): account for SENS_GPS*_DELAY in observation buffer sizing
* fix(docs): migrate EKF2_GPS_DELAY param
174 lines
4.7 KiB
Bash
174 lines
4.7 KiB
Bash
#!/bin/sh
|
|
#
|
|
# @name Advanced Technology Labs (ATL) Mantis EDU
|
|
#
|
|
# @type Quadrotor x
|
|
# @class Copter
|
|
#
|
|
# @maintainer
|
|
# @board px4_fmu-v2 exclude
|
|
# @board cuav_x7pro exclude
|
|
# @board px4_fmu-v4pro exclude
|
|
# @board px4_fmu-v5x exclude
|
|
# @board auterion_fmu-v6x exclude
|
|
# @board px4_fmu-v6x exclude
|
|
#
|
|
|
|
. ${R}etc/init.d/rc.mc_defaults
|
|
|
|
# Battery settings
|
|
param set-default BAT_CRIT_THR 0.20
|
|
param set-default BAT_LOW_THR 0.25
|
|
|
|
param set-default BAT1_CAPACITY 2800
|
|
param set-default BAT1_N_CELLS 3
|
|
param set-default BAT1_R_INTERNAL 0.02
|
|
param set-default BAT1_V_CHARGED 4.26
|
|
param set-default BAT1_V_EMPTY 3.45
|
|
|
|
param set-default CBRK_SUPPLY_CHK 894281
|
|
|
|
param set-default COM_DISARM_LAND 0.1
|
|
param set-default COM_DISARM_PRFLT 3
|
|
param set-default COM_DL_LOSS_T 10
|
|
param set-default COM_FLTMODE1 2
|
|
param set-default COM_FLTMODE2 -1
|
|
param set-default COM_FLTMODE3 -1
|
|
param set-default COM_FLTMODE4 -1
|
|
param set-default COM_FLTMODE5 -1
|
|
param set-default COM_FLTMODE6 1
|
|
param set-default COM_RC_LOSS_T 3
|
|
|
|
# ekf2
|
|
param set-default EKF2_BARO_NOISE 2
|
|
|
|
param set-default EKF2_BCOEF_X 31.5
|
|
param set-default EKF2_BCOEF_Y 25.5
|
|
|
|
param set-default EKF2_DRAG_CTRL 1
|
|
|
|
param set-default SENS_GPS0_DELAY 100
|
|
param set-default SENS_GPS1_DELAY 100
|
|
param set-default SENS_GPS0_OFFX 0.06
|
|
param set-default EKF2_GPS_V_NOISE 0.5
|
|
|
|
param set-default EKF2_IMU_POS_X 0.06
|
|
|
|
param set-default EKF2_MAG_NOISE 0.1
|
|
|
|
param set-default EKF2_MIN_RNG 0.15
|
|
|
|
param set-default EKF2_OF_DELAY 38
|
|
param set-default EKF2_OF_GATE 2
|
|
param set-default EKF2_OF_POS_X -0.035
|
|
param set-default EKF2_OF_POS_Z 0.033
|
|
param set-default EKF2_OF_MIN_RNG 0.01
|
|
param set-default EKF2_OF_A_HMAX 7
|
|
param set-default EKF2_OF_QMIN 30
|
|
|
|
param set-default EKF2_PCOEF_XN -0.3
|
|
param set-default EKF2_PCOEF_XP -0.4
|
|
param set-default EKF2_PCOEF_YN -0.4
|
|
param set-default EKF2_PCOEF_YP -0.4
|
|
|
|
param set-default EKF2_RNG_A_VMAX 1
|
|
param set-default EKF2_RNG_CTRL 0
|
|
param set-default EKF2_RNG_DELAY 55
|
|
param set-default EKF2_RNG_POS_X -0.035
|
|
param set-default EKF2_RNG_POS_Y 0
|
|
param set-default EKF2_RNG_POS_Z 0.033
|
|
|
|
param set-default EKF2_TERR_NOISE 1
|
|
|
|
# Maximum allowed angle velocity in the landed state
|
|
param set-default LNDMC_ROT_MAX 40
|
|
|
|
# Maximum vertical velocity allowed in the landed state
|
|
param set-default LNDMC_Z_VEL_MAX 0.7
|
|
|
|
# filtering
|
|
param set-default IMU_DGYRO_CUTOFF 50
|
|
param set-default IMU_GYRO_CUTOFF 65
|
|
|
|
# Pitch angle & rate setting
|
|
param set-default MC_PITCHRATE_P 0.075
|
|
param set-default MC_PITCHRATE_I 0.1
|
|
param set-default MC_PITCHRATE_D 0.0005
|
|
param set-default MC_PITCHRATE_MAX 360
|
|
param set-default MC_PITCH_P 8
|
|
|
|
# Roll angle & rate setting
|
|
param set-default MC_ROLLRATE_P 0.055
|
|
param set-default MC_ROLLRATE_I 0.1
|
|
param set-default MC_ROLLRATE_D 0.0005
|
|
param set-default MC_ROLLRATE_MAX 360
|
|
param set-default MC_ROLL_P 8
|
|
|
|
# Yaw angle & rate setting
|
|
param set-default MC_YAWRATE_P 0.1
|
|
param set-default MC_YAWRATE_MAX 120
|
|
param set-default MC_YAW_P 2.5
|
|
|
|
param set-default MPC_ACC_DOWN_MAX 2
|
|
param set-default MPC_ACC_HOR 3
|
|
param set-default MPC_ACC_HOR_MAX 10
|
|
param set-default MPC_ACC_UP_MAX 3
|
|
param set-default MPC_ALT_MODE 0
|
|
param set-default MPC_LAND_SPEED 0.5
|
|
param set-default MPC_MAN_TILT_MAX 20
|
|
param set-default MPC_YAWRAUTO_MAX 80
|
|
param set-default MPC_THR_HOVER 0.54
|
|
param set-default MPC_THR_MAX 0.9
|
|
param set-default MPC_THR_MIN 0.06
|
|
param set-default MPC_TILTMAX_AIR 30
|
|
param set-default MPC_XY_P 1
|
|
param set-default MPC_Z_P 2
|
|
param set-default MPC_Z_VEL_MAX_DN 2
|
|
|
|
# gimbal configuration
|
|
param set-default MNT_MODE_IN 0
|
|
param set-default MNT_MODE_OUT 1
|
|
param set-default MNT_MAN_PITCH 2
|
|
param set-default MNT_RATE_PITCH 30
|
|
|
|
# RC
|
|
param set-default RC_CHAN_CNT 12
|
|
|
|
param set-default RC_MAP_THROTTLE 1
|
|
param set-default RC_MAP_YAW 2
|
|
param set-default RC_MAP_PITCH 3
|
|
param set-default RC_MAP_ROLL 4
|
|
param set-default RC_MAP_AUX2 5
|
|
param set-default RC_MAP_AUX3 10
|
|
param set-default RC_MAP_AUX4 8
|
|
param set-default RC_MAP_FLTMODE 6
|
|
param set-default RC_MAP_RETURN_SW 7
|
|
|
|
param set-default RC1_TRIM 1000
|
|
|
|
# optical flow
|
|
param set-default SENS_FLOW_MAXR 7.4
|
|
param set-default SENS_FLOW_MINHGT 0.15
|
|
param set-default SENS_FLOW_MAXHGT 5
|
|
|
|
# ignore the SD card errors and use normal startup sound
|
|
set STARTUP_TUNE "1"
|
|
|
|
# Square quadrotor X PX4 numbering
|
|
param set-default CA_ROTOR_COUNT 4
|
|
param set-default CA_ROTOR0_PX 1
|
|
param set-default CA_ROTOR0_PY 1
|
|
param set-default CA_ROTOR1_PX -1
|
|
param set-default CA_ROTOR1_PY -1
|
|
param set-default CA_ROTOR2_PX 1
|
|
param set-default CA_ROTOR2_PY -1
|
|
param set-default CA_ROTOR2_KM -0.05
|
|
param set-default CA_ROTOR3_PX -1
|
|
param set-default CA_ROTOR3_PY 1
|
|
param set-default CA_ROTOR3_KM -0.05
|
|
|
|
param set-default TAP_ESC_FUNC1 101
|
|
param set-default TAP_ESC_FUNC2 102
|
|
param set-default TAP_ESC_FUNC3 103
|
|
param set-default TAP_ESC_FUNC4 104
|