mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 07:43:37 +08:00
54 lines
1.4 KiB
Bash
54 lines
1.4 KiB
Bash
#!/bin/sh
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#
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# @name Plane SITL for SIH
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#
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# @type Plane
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#
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# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
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. ${R}etc/init.d/rc.fw_defaults
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PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=airplane}
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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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param set-default SENS_EN_ARSPDSIM 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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param set-default SIH_T_MAX 6
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param set-default SIH_MASS 0.3
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param set-default SIH_IXX 0.00402
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param set-default SIH_IYY 0.0144
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param set-default SIH_IZZ 0.0177
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param set-default SIH_IXZ 0.00046
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param set-default SIH_KDV 0.2
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param set-default SIH_VEHICLE_TYPE 1 # sih as fixed wing
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param set-default RWTO_TKOFF 1 # enable takeoff from runway (as opposed to launched)
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param set-default CA_AIRFRAME 1
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param set-default CA_ROTOR_COUNT 1
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param set-default CA_SV_CS_COUNT 3
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param set-default CA_SV_CS0_TRQ_R -0.5
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param set-default CA_SV_CS0_TYPE 1
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param set-default CA_SV_CS1_TRQ_P 1
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param set-default CA_SV_CS1_TYPE 3
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param set-default CA_SV_CS2_TRQ_Y 1
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param set-default CA_SV_CS2_TYPE 4
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param set-default PWM_MAIN_FUNC1 201
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param set-default PWM_MAIN_FUNC2 202
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param set-default PWM_MAIN_FUNC3 203
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param set-default PWM_MAIN_FUNC4 101
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param set-default EKF2_GPS_DELAY 0
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