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)
83 lines
2.3 KiB
Bash
83 lines
2.3 KiB
Bash
#!/bin/sh
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#
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# @name Standard VTOL
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#
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# @type Standard VTOL
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#
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. ${R}etc/init.d/rc.vtol_defaults
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# TODO: Enable motor failure detection when the
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# VTOL no longer reports 0A for all ESCs in SITL
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param set-default FD_ACT_EN 0
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param set-default FD_ACT_MOT_TOUT 500
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param set-default CA_AIRFRAME 2
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param set-default CA_ROTOR_COUNT 5
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param set-default CA_ROTOR0_PX 0.1515
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param set-default CA_ROTOR0_PY 0.245
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param set-default CA_ROTOR0_KM 0.05
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param set-default CA_ROTOR1_PX -0.1515
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param set-default CA_ROTOR1_PY -0.1875
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param set-default CA_ROTOR1_KM 0.05
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param set-default CA_ROTOR2_PX 0.1515
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param set-default CA_ROTOR2_PY -0.245
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param set-default CA_ROTOR2_KM -0.05
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param set-default CA_ROTOR3_PX -0.1515
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param set-default CA_ROTOR3_PY 0.1875
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param set-default CA_ROTOR3_KM -0.05
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param set-default CA_ROTOR4_AX 1.0
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param set-default CA_ROTOR4_AZ 0.0
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param set-default CA_ROTOR4_PX 0.2
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param set-default CA_SV_CS_COUNT 3
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param set-default CA_SV_CS0_TYPE 1
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param set-default CA_SV_CS0_TRQ_R -0.5
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param set-default CA_SV_CS1_TYPE 2
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param set-default CA_SV_CS1_TRQ_R 0.5
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param set-default CA_SV_CS2_TYPE 3
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param set-default CA_SV_CS2_TRQ_P 1.0
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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 201
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param set-default PWM_MAIN_FUNC7 202
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param set-default PWM_MAIN_FUNC8 203
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param set-default FW_L1_PERIOD 12
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param set-default FW_PR_FF 0.2
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param set-default FW_PR_P 0.9
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param set-default FW_PSP_OFF 2
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param set-default FW_P_LIM_MIN -15
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param set-default FW_RR_FF 0.1
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param set-default FW_RR_P 0.3
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param set-default FW_THR_TRIM 0.25
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param set-default FW_THR_MAX 0.6
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param set-default FW_THR_MIN 0.05
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param set-default FW_T_CLMB_MAX 8
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param set-default FW_T_SINK_MAX 2.7
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param set-default FW_T_SINK_MIN 2.2
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param set-default MC_AIRMODE 1
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param set-default MC_ROLLRATE_P 0.3
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param set-default MC_YAW_P 1.6
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param set-default MIS_TAKEOFF_ALT 10
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param set-default MPC_ACC_HOR_MAX 2
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param set-default MPC_XY_P 0.8
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param set-default MPC_XY_VEL_P_ACC 3
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param set-default MPC_XY_VEL_I_ACC 4
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param set-default MPC_XY_VEL_D_ACC 0.1
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param set-default NAV_ACC_RAD 5
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param set-default VT_FWD_THRUST_EN 4
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param set-default VT_F_TRANS_THR 0.75
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param set-default VT_B_TRANS_DUR 8
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param set-default VT_TYPE 2
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