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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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46 lines
1.2 KiB
Bash
46 lines
1.2 KiB
Bash
#!/bin/sh
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#
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# @name QuadrotorX SITL for SIH
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#
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# @type Quadrotor
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#
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# @maintainer Romain Chiappinelli <romain.chiap@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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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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# again follows from CA_* params. remove redundancy sometime
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param set-default SIH_L_PITCH 1 # = CA_ROTOR0_PX
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param set-default SIH_L_ROLL 1 # = CA_ROTOR0_PY
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param set-default SIH_T_MAX 6.5 # = default value of CA_ROTOR0_CT
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param set-default SIH_Q_MAX 0.325 # = CA_ROTOR0_KM * SIH_T_MAX
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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-default EKF2_GPS_DELAY 0
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param set SIH_VEHICLE_TYPE 0
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