mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 11:28:52 +08:00
Beat Küng
76d8d8cae6
This adds the pusher/puller to the standard motors and makes the axis configurable.
112 lines
2.8 KiB
Bash
112 lines
2.8 KiB
Bash
#!/bin/sh
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#
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# @name HIL Standard VTOL QuadPlane
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#
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# @type Standard VTOL
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# @class VTOL
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#
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# @maintainer Roman Bapst <roman@auterion.com>
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#
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# @board px4_fmu-v2 exclude
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# @board bitcraze_crazyflie exclude
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# @board holybro_kakutef7 exclude
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#
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. ${R}etc/init.d/rc.vtol_defaults
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param set-default BAT1_N_CELLS 3
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param set-default COM_RC_IN_MODE 1
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param set-default EKF2_ANGERR_INIT 0.01
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param set-default EKF2_GBIAS_INIT 0.01
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param set-default EKF2_MAG_TYPE 1
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param set-default FW_AIRSPD_MAX 25
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param set-default FW_AIRSPD_MIN 14
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param set-default FW_AIRSPD_TRIM 16
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param set-default MC_PITCH_P 6
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param set-default MC_PITCHRATE_P 0.2
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param set-default MC_ROLL_P 6
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param set-default MC_ROLLRATE_P 0.3
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param set-default MIS_LTRMIN_ALT 10
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param set-default MIS_TAKEOFF_ALT 10
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param set-default MIS_YAW_TMT 10
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param set-default MPC_ACC_HOR_MAX 2
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param set-default MPC_ACC_HOR_MAX 2
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param set-default MPC_THR_MIN 0.1
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param set-default MPC_TKO_SPEED 1
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param set-default MPC_XY_P 0.8
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param set-default MPC_XY_VEL_D_ACC 0.1
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param set-default MPC_XY_VEL_I_ACC 4
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param set-default MPC_XY_VEL_P_ACC 3
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param set-default MPC_Z_VEL_P_ACC 12
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param set-default MPC_Z_VEL_I_ACC 3
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param set-default MPC_Z_VEL_MAX_DN 1.5
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param set-default NAV_ACC_RAD 5
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param set-default NAV_DLL_ACT 2
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param set-default NAV_LOITER_RAD 80
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param set-default RTL_DESCEND_ALT 10
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param set-default RTL_RETURN_ALT 30
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param set-default SDLOG_DIRS_MAX 7
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param set-default VT_F_TRANS_THR 0.75
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param set-default VT_MOT_ID 1234
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param set-default VT_FW_MOT_OFFID 1234
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param set-default VT_TYPE 2
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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 0.15
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param set-default CA_ROTOR0_PY 0.15
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param set-default CA_ROTOR1_PX -0.15
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param set-default CA_ROTOR1_PY -0.15
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param set-default CA_ROTOR2_PX 0.15
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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 -0.15
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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_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_CS1_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_CS2_TRQ_P 1.0
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param set-default CA_SV_CS2_TYPE 3
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param set-default HIL_ACT_FUNC1 101
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param set-default HIL_ACT_FUNC2 102
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param set-default HIL_ACT_FUNC3 103
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param set-default HIL_ACT_FUNC4 104
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param set-default HIL_ACT_FUNC5 105
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param set-default HIL_ACT_FUNC6 201
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param set-default HIL_ACT_FUNC7 202
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param set-default HIL_ACT_FUNC8 203
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param set SYS_HITL 1
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# disable some checks to allow to fly
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# - with usb
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param set-default CBRK_USB_CHK 197848
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# - without real battery
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param set-default CBRK_SUPPLY_CHK 894281
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# - without safety switch
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param set-default COM_PREARM_MODE 0
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param set-default CBRK_IO_SAFETY 22027
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set MAV_TYPE 22
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set MIXER standard_vtol_hitl
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set PWM_OUT 1234
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