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Balduin
5bca71791a
* fix sign error in appropriate place In PR https://github.com/PX4/PX4-Autopilot/pull/24175 I changed the control surface deflection signs in generate_fw_aerodynamics to make the 1103 airframe work correctly. However, this breaks the 1101 airframe, introducing sing errors there. So, here the change in generate_fw_aerodynamics is reverted to the state before PR #24175. Instead, the signs are set correctly by using the HIL_ACT_REV bitfield in the respective airframe config files. * match control surface parameters to SIH model
52 lines
1.3 KiB
Bash
52 lines
1.3 KiB
Bash
#!/bin/sh
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#
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# @name SIH plane AERT
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#
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# @type Simulation
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# @class Plane
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#
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# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
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#
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# @board px4_fmu-v2 exclude
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#
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. ${R}etc/init.d/rc.fw_defaults
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param set UAVCAN_ENABLE 0
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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_ROTOR0_PX 0.3
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# SIH for now hardcodes this configuration which we need to match in the airframe files.
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param set-default CA_SV_CS_COUNT 3
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param set-default CA_SV_CS0_TRQ_R 1
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param set-default CA_SV_CS0_TYPE 15 # single channel aileron
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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 # elevator
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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 # rudder
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param set HIL_ACT_FUNC1 201
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param set HIL_ACT_FUNC2 202
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param set HIL_ACT_FUNC3 203
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param set HIL_ACT_FUNC4 101
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# set SYS_HITL to 2 to start the SIH and avoid sensors startup
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param set-default SYS_HITL 2
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# disable some checks to allow to fly:
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# - without real battery
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param set-default CBRK_SUPPLY_CHK 894281
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param set SIH_T_MAX 6
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param set SIH_MASS 0.3
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param set SIH_IXX 0.00402
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param set SIH_IYY 0.0144
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param set SIH_IZZ 0.0177
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param set SIH_IXZ 0.00046
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param set SIH_KDV 0.2
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param set SIH_VEHICLE_TYPE 1 # sih as fixed wing
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param set RWTO_TKOFF 1 # enable takeoff from runway (as opposed to launched)
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