mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
6991ac014c
- use `gazebo-classic` everywhere consistently referring to the original Gazebo (eg version 9,10,11) - additional `gazebo_*` helper targets added for compatibility, but warn about deprecation and tell you the new target naming - use `gz` everywhere when referring to Gazebo (aka Ignition Gazebo or new Gazebo)
98 lines
2.9 KiB
Bash
98 lines
2.9 KiB
Bash
#!/bin/sh
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#
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# @name 6DoF Omnicopter SITL
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#
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# @type Quadrotor Wide
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#
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# @maintainer Jaeyoung Lim <jalim@ethz.ch>
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#
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. ${R}etc/init.d/rc.mc_defaults
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param set-default CA_AIRFRAME 0
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param set-default CA_ROTOR_COUNT 8
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param set-default CA_R_REV 255
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param set-default CA_ROTOR0_PX 0.14435
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param set-default CA_ROTOR0_PY -0.14435
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param set-default CA_ROTOR0_PZ -0.14435
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param set-default CA_ROTOR0_KM 0.05 # CCW
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param set-default CA_ROTOR0_AX -0.788675
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param set-default CA_ROTOR0_AY -0.211325
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param set-default CA_ROTOR0_AZ -0.57735
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param set-default CA_ROTOR1_PX -0.14435
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param set-default CA_ROTOR1_PY -0.14435
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param set-default CA_ROTOR1_PZ -0.14435
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param set-default CA_ROTOR1_KM 0.05
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param set-default CA_ROTOR1_AX 0.211325
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param set-default CA_ROTOR1_AY -0.788675
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param set-default CA_ROTOR1_AZ 0.57735
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param set-default CA_ROTOR2_PX 0.14435
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param set-default CA_ROTOR2_PY 0.14435
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param set-default CA_ROTOR2_PZ -0.14435
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param set-default CA_ROTOR2_KM 0.05
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param set-default CA_ROTOR2_AX -0.211325
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param set-default CA_ROTOR2_AY 0.788675
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param set-default CA_ROTOR2_AZ 0.57735
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param set-default CA_ROTOR3_PX -0.14435
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param set-default CA_ROTOR3_PY 0.14435
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param set-default CA_ROTOR3_PZ -0.14435
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param set-default CA_ROTOR3_KM 0.05
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param set-default CA_ROTOR3_AX 0.788675
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param set-default CA_ROTOR3_AY 0.211325
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param set-default CA_ROTOR3_AZ -0.57735
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param set-default CA_ROTOR4_PX 0.14435
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param set-default CA_ROTOR4_PY -0.14435
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param set-default CA_ROTOR4_PZ 0.14435
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param set-default CA_ROTOR4_KM 0.05
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param set-default CA_ROTOR4_AX 0.788675
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param set-default CA_ROTOR4_AY 0.211325
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param set-default CA_ROTOR4_AZ -0.57735
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param set-default CA_ROTOR5_PX -0.14435
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param set-default CA_ROTOR5_PY -0.14435
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param set-default CA_ROTOR5_PZ 0.14435
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param set-default CA_ROTOR5_KM 0.05
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param set-default CA_ROTOR5_AX -0.211325
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param set-default CA_ROTOR5_AY 0.788675
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param set-default CA_ROTOR5_AZ 0.57735
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param set-default CA_ROTOR6_PX 0.14435
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param set-default CA_ROTOR6_PY 0.14435
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param set-default CA_ROTOR6_PZ 0.14435
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param set-default CA_ROTOR6_KM 0.05
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param set-default CA_ROTOR6_AX 0.211325
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param set-default CA_ROTOR6_AY -0.788675
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param set-default CA_ROTOR6_AZ 0.57735
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param set-default CA_ROTOR7_PX -0.14435
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param set-default CA_ROTOR7_PY 0.14435
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param set-default CA_ROTOR7_PZ 0.14435
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param set-default CA_ROTOR7_KM 0.05
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param set-default CA_ROTOR7_AX -0.788675
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param set-default CA_ROTOR7_AY -0.211325
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param set-default CA_ROTOR7_AZ -0.57735
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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 PWM_MAIN_FUNC5 105
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param set-default PWM_MAIN_FUNC6 106
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param set-default PWM_MAIN_FUNC7 107
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param set-default PWM_MAIN_FUNC8 108
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# disable MC desaturation which improves attitude tracking
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param set-default CA_METHOD 0
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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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