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)
80 lines
2.1 KiB
Bash
80 lines
2.1 KiB
Bash
#!/bin/sh
|
|
#
|
|
# @name Quadrotor + Tailsitter
|
|
#
|
|
# @type VTOL Quad Tailsitter
|
|
#
|
|
|
|
. ${R}etc/init.d/rc.vtol_defaults
|
|
|
|
param set-default MAV_TYPE 20
|
|
|
|
param set-default CA_AIRFRAME 4
|
|
|
|
param set-default CA_ROTOR_COUNT 4
|
|
param set-default CA_ROTOR0_PX 1
|
|
param set-default CA_ROTOR0_PY 2
|
|
param set-default CA_ROTOR0_KM 0.05
|
|
param set-default CA_ROTOR1_PX -1
|
|
param set-default CA_ROTOR1_PY -1
|
|
param set-default CA_ROTOR1_KM 0.05
|
|
param set-default CA_ROTOR2_PX 1
|
|
param set-default CA_ROTOR2_PY -1
|
|
param set-default CA_ROTOR2_KM -0.05
|
|
param set-default CA_ROTOR3_PX -1
|
|
param set-default CA_ROTOR3_PY 1
|
|
param set-default CA_ROTOR3_KM -0.05
|
|
|
|
param set-default CA_SV_CS_COUNT 2
|
|
param set-default CA_SV_CS0_TYPE 5
|
|
param set-default CA_SV_CS0_TRQ_P 0.5
|
|
param set-default CA_SV_CS0_TRQ_Y -0.5
|
|
param set-default CA_SV_CS1_TYPE 6
|
|
param set-default CA_SV_CS1_TRQ_P 0.5
|
|
param set-default CA_SV_CS1_TRQ_Y 0.5
|
|
|
|
param set-default PWM_MAIN_FUNC1 101
|
|
param set-default PWM_MAIN_FUNC2 102
|
|
param set-default PWM_MAIN_FUNC3 103
|
|
param set-default PWM_MAIN_FUNC4 104
|
|
param set-default PWM_MAIN_FUNC5 0
|
|
param set-default PWM_MAIN_FUNC6 201
|
|
param set-default PWM_MAIN_FUNC7 202
|
|
param set-default PWM_MAIN_REV 96 # invert both elevons
|
|
|
|
param set-default FW_L1_PERIOD 12
|
|
param set-default FW_PR_I 0.2
|
|
param set-default FW_PR_P 0.2
|
|
param set-default FW_PSP_OFF 2
|
|
param set-default FW_P_LIM_MIN -15
|
|
param set-default FW_RR_P 0.2
|
|
param set-default FW_THR_TRIM 0.33
|
|
param set-default FW_THR_MAX 0.6
|
|
param set-default FW_THR_MIN 0.05
|
|
param set-default FW_T_ALT_TC 2
|
|
param set-default FW_T_CLMB_MAX 8
|
|
param set-default FW_T_HRATE_FF 0.5
|
|
param set-default FW_T_SINK_MAX 2.7
|
|
param set-default FW_T_SINK_MIN 2.2
|
|
param set-default FW_T_TAS_TC 2
|
|
|
|
param set-default MC_AIRMODE 1
|
|
param set-default MC_ROLLRATE_P 0.3
|
|
|
|
param set-default MPC_ACC_HOR_MAX 2
|
|
param set-default MPC_XY_P 0.8
|
|
param set-default MPC_XY_VEL_P_ACC 3
|
|
param set-default MPC_XY_VEL_I_ACC 4
|
|
param set-default MPC_XY_VEL_D_ACC 0.1
|
|
|
|
param set-default NAV_ACC_RAD 5
|
|
|
|
param set-default VT_FW_DIFTHR_EN 1
|
|
param set-default VT_FW_DIFTHR_S_Y 0.5
|
|
param set-default VT_F_TRANS_DUR 1.5
|
|
param set-default VT_F_TRANS_THR 0.7
|
|
param set-default VT_TYPE 0
|
|
|
|
param set-default WV_EN 0
|
|
|