mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-16 03:41:36 +08:00
Daniel Agar
4040e4cdf2
- new modules/simulation directory to collect all simulators and related modules - new Tools/simulation directory to collect and organize scattered simulation submodules, scripts, etc - simulation module renamed to simulator_mavlink - sih renamed to simulator_sih (not a great name, but I wanted to be clear it was a simulator) - ignition_simulator renamed to simulator_ignition_bridge - large sitl_target.cmake split by simulation option and in some cases pushed to appropriate modules - sitl targets broken down to what's actually available (eg jmavsim only has 1 model and 1 world) - new Gazebo consistently referred to as Ignition for now (probably the least confusing thing until we fully drop Gazebo classic support someday)
81 lines
2.1 KiB
Bash
81 lines
2.1 KiB
Bash
#!/bin/sh
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#
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# @name Ignition Gazebo X4
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#
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# @type Quadrotor
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#
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. ${R}etc/init.d/rc.mc_defaults
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PX4_SIMULATOR=${PX4_SIMULATOR:=ignition}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=x4}
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PX4_SIM_WORLD=${PX4_SIM_WORLD:=default}
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param set-default SYS_CTRL_ALLOC 1
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param set-default CA_AIRFRAME 0
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param set-default CA_ROTOR_COUNT 6
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param set-default CA_ROTOR0_PX 0.25
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param set-default CA_ROTOR0_PY -0.15
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param set-default CA_ROTOR0_KM 0.05
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param set-default CA_ROTOR1_PX 0.00
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param set-default CA_ROTOR1_PY -0.29
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param set-default CA_ROTOR1_KM -0.05
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param set-default CA_ROTOR2_PX -0.25
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param set-default CA_ROTOR2_PY -0.15
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param set-default CA_ROTOR2_KM 0.05
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param set-default CA_ROTOR3_PX -0.25
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param set-default CA_ROTOR3_PY 0.15
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param set-default CA_ROTOR3_KM -0.05
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param set-default CA_ROTOR4_PX 0.00
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param set-default CA_ROTOR4_PY 0.29
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param set-default CA_ROTOR4_KM 0.05
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param set-default CA_ROTOR5_PX 0.25
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param set-default CA_ROTOR5_PY 0.15
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param set-default CA_ROTOR5_KM -0.05
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param set-default SIM_IGN_FUNC1 101
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param set-default SIM_IGN_FUNC2 102
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param set-default SIM_IGN_FUNC3 103
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param set-default SIM_IGN_FUNC4 104
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param set-default SIM_IGN_FUNC5 105
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param set-default SIM_IGN_FUNC6 106
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param set-default SIM_IGN_MIN1 150
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param set-default SIM_IGN_MIN2 150
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param set-default SIM_IGN_MIN3 150
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param set-default SIM_IGN_MIN4 150
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param set-default SIM_IGN_MIN5 150
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param set-default SIM_IGN_MIN6 150
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param set-default SIM_IGN_MAX1 1000
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param set-default SIM_IGN_MAX2 1000
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param set-default SIM_IGN_MAX3 1000
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param set-default SIM_IGN_MAX4 1000
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param set-default SIM_IGN_MAX5 1000
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param set-default SIM_IGN_MAX6 1000
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param set-default MC_PITCHRATE_D 0.0016
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param set-default MC_PITCHRATE_I 0.2500
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param set-default MC_PITCHRATE_P 0.1831
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param set-default MC_PITCH_P 5.216
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param set-default MC_ROLLRATE_D 0.0022
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param set-default MC_ROLLRATE_I 0.2095
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param set-default MC_ROLLRATE_P 0.1570
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param set-default MC_ROLL_P 6.081
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param set-default MC_YAWRATE_D 0.0009
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param set-default MC_YAWRATE_I 0.1800
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param set-default MC_YAWRATE_P 0.1773
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param set-default MC_YAW_P 5.386490
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param set-default MPC_THR_HOVER 0.61
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