mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 19:43:34 +08:00
Jacob Dahl
3b2d74b017
* disable SENS_EN_GPSSIM for all gz airframes * add GPS + noise to GZBridge * remove mutex from gz callbacks. Callbacks run synchronously after sim update step and run() loop does not share resources. * remove hrt check in callbacks * format * remove param set-default for already default params * update submodule * remove unnecessary comments * overhaul of the GZBridge and px4-rc.simulator script * remove arg * shellcheck disable * add bus/address * start gz_bridge before adjusting sim speed or camera follow
148 lines
4.3 KiB
Bash
148 lines
4.3 KiB
Bash
#!/bin/sh
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#
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# @name 3DoF Spacecraft Model
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#
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# @type 2D Freeflyer with 8 thrusters - Planar motion
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#
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# @maintainer Pedro Roque <padr@kth.se>
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#
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. ${R}etc/init.d/rc.sc_defaults
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PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
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PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=spacecraft_2d}
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param set-default SIM_GZ_EN 1
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param set-default SENS_EN_MAGSIM 1
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param set-default COM_ARM_CHK_ESCS 0 # We don't have ESCs
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param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?
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param set-default CA_AIRFRAME 14
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param set-default MAV_TYPE 99
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param set-default CA_THRUSTER_CNT 8
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param set-default CA_R_REV 0
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# param set-default FW_ARSP_MODE 1
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# Auto to be provided by Custom Airframe
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param set-default CA_METHOD 0 # 0 is PseudoInverse, 3 is Metric
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# Set proper failsafes
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param set-default COM_ACT_FAIL_ACT 0
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param set-default COM_LOW_BAT_ACT 0
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param set-default NAV_DLL_ACT 0
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param set-default GF_ACTION 1
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param set-default NAV_RCL_ACT 1
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param set-default COM_POSCTL_NAVL 2
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# disable attitude failure detection
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param set-default FD_FAIL_P 0
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param set-default FD_FAIL_R 0
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param set-default CA_THRUSTER0_PX -0.12
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param set-default CA_THRUSTER0_PY -0.12
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param set-default CA_THRUSTER0_PZ 0.0
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param set-default CA_THRUSTER0_CT 1.4
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param set-default CA_THRUSTER0_AX 1.0
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param set-default CA_THRUSTER0_AY 0.0
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param set-default CA_THRUSTER0_AZ 0.0
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param set-default CA_THRUSTER1_PX 0.12
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param set-default CA_THRUSTER1_PY -0.12
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param set-default CA_THRUSTER1_PZ 0.0
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param set-default CA_THRUSTER1_CT 1.4
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param set-default CA_THRUSTER1_AX -1.0
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param set-default CA_THRUSTER1_AY 0.0
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param set-default CA_THRUSTER1_AZ 0.0
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param set-default CA_THRUSTER2_PX -0.12
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param set-default CA_THRUSTER2_PY 0.12
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param set-default CA_THRUSTER2_PZ 0.0
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param set-default CA_THRUSTER2_CT 1.4
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param set-default CA_THRUSTER2_AX 1.0
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param set-default CA_THRUSTER2_AY 0.0
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param set-default CA_THRUSTER2_AZ 0.0
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param set-default CA_THRUSTER3_PX 0.12
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param set-default CA_THRUSTER3_PY 0.12
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param set-default CA_THRUSTER3_PZ 0.0
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param set-default CA_THRUSTER3_CT 1.4
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param set-default CA_THRUSTER3_AX -1.0
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param set-default CA_THRUSTER3_AY 0.0
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param set-default CA_THRUSTER3_AZ 0.0
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param set-default CA_THRUSTER4_PX 0.12
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param set-default CA_THRUSTER4_PY -0.12
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param set-default CA_THRUSTER4_PZ 0.0
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param set-default CA_THRUSTER4_CT 1.4
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param set-default CA_THRUSTER4_AX 0.0
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param set-default CA_THRUSTER4_AY 1.0
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param set-default CA_THRUSTER4_AZ 0.0
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param set-default CA_THRUSTER5_PX 0.12
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param set-default CA_THRUSTER5_PY 0.12
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param set-default CA_THRUSTER5_PZ 0.0
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param set-default CA_THRUSTER5_CT 1.4
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param set-default CA_THRUSTER5_AX 0.0
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param set-default CA_THRUSTER5_AY -1.0
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param set-default CA_THRUSTER5_AZ 0.0
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param set-default CA_THRUSTER6_PX -0.12
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param set-default CA_THRUSTER6_PY -0.12
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param set-default CA_THRUSTER6_PZ 0.0
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param set-default CA_THRUSTER6_CT 1.4
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param set-default CA_THRUSTER6_AX 0.0
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param set-default CA_THRUSTER6_AY 1.0
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param set-default CA_THRUSTER6_AZ 0.0
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param set-default CA_THRUSTER7_PX -0.12
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param set-default CA_THRUSTER7_PY 0.12
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param set-default CA_THRUSTER7_PZ 0.0
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param set-default CA_THRUSTER7_CT 1.4
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param set-default CA_THRUSTER7_AX 0.0
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param set-default CA_THRUSTER7_AY -1.0
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param set-default CA_THRUSTER7_AZ 0.0
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param set-default SIM_GZ_TH_FUNC1 101
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param set-default SIM_GZ_TH_FUNC2 102
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param set-default SIM_GZ_TH_FUNC3 103
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param set-default SIM_GZ_TH_FUNC4 104
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param set-default SIM_GZ_TH_FUNC5 105
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param set-default SIM_GZ_TH_FUNC6 106
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param set-default SIM_GZ_TH_FUNC7 107
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param set-default SIM_GZ_TH_FUNC8 108
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param set-default SIM_GZ_TH_MIN1 0
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param set-default SIM_GZ_TH_MIN2 0
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param set-default SIM_GZ_TH_MIN3 0
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param set-default SIM_GZ_TH_MIN4 0
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param set-default SIM_GZ_TH_MIN5 0
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param set-default SIM_GZ_TH_MIN6 0
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param set-default SIM_GZ_TH_MIN7 0
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param set-default SIM_GZ_TH_MIN8 0
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param set-default SIM_GZ_TH_MAX1 10000
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param set-default SIM_GZ_TH_MAX2 10000
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param set-default SIM_GZ_TH_MAX3 10000
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param set-default SIM_GZ_TH_MAX4 10000
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param set-default SIM_GZ_TH_MAX5 10000
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param set-default SIM_GZ_TH_MAX6 10000
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param set-default SIM_GZ_TH_MAX7 10000
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param set-default SIM_GZ_TH_MAX8 10000
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# Controller Tunings
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param set SC_YAWRATE_P 3.335
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param set SC_YAWRATE_I 0.87
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param set SC_YAWRATE_D 0.15
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param set SC_YR_INT_LIM 0.2
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param set SC_YAW_P 3.0
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param set SPC_POS_P 0.20
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param set SPC_VEL_P 6.55
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param set SPC_VEL_I 0.0
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param set SPC_VEL_D 0.0
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param set SPC_VEL_MAX 12.0
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