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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 14:58:53 +08:00
58 lines
1.2 KiB
Bash
58 lines
1.2 KiB
Bash
#!/bin/sh
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#
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# @name Generic Ground Vehicle
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#
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# @type Rover
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# @class Rover
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#
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# @output MAIN2 steering
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# @output MAIN4 throttle
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#
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# @maintainer
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#
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# @board bitcraze_crazyflie exclude
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#
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. ${R}etc/init.d/rc.rover_defaults
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param set-default BAT1_N_CELLS 2
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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 3
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param set-default FW_AIRSPD_MIN 0
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param set-default FW_AIRSPD_TRIM 1
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# Settings for a typical wheelbase 0f 0.3m
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param set-default GND_L1_DIST 1
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param set-default GND_L1_PERIOD 5
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param set-default GND_SP_CTRL_MODE 1
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param set-default GND_SPEED_P 0.25
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param set-default GND_SPEED_I 3
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param set-default GND_SPEED_D 0.001
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param set-default GND_SPEED_IMAX 0.125
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param set-default GND_SPEED_THR_SC 1
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param set-default GND_THR_CRUISE 0.3
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param set-default GND_THR_MAX 0.5
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param set-default GND_THR_MIN 0
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param set-default MIS_LTRMIN_ALT 0.01
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param set-default MIS_TAKEOFF_ALT 0.01
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param set-default NAV_ACC_RAD 0.5
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# Provide ESC a constant 1500 us pulse
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param set-default PWM_MAIN_DISARM 1500
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param set-default PWM_MAIN_MAX 2000
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param set-default PWM_MAIN_MIN 1000
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# Configure this as rover
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set MAV_TYPE 10
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# Set mixer
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set MIXER rover_generic
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set PWM_MAIN_REV2 1
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