mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-28 11:23:34 +08:00
Thomas Stastny
87e09ad9f5
- landing slope/curve library removed - flare curve removed (the position setpoints will not be tracked during a flare, and were being ignored by open-loop maneuvers anyway) - flare curve replaced by simply commanding a constant glide slope to the ground from the approach entrance, and commanding a sink rate once below flaring alt - flare is now time-to-touchdown -based to account for differing descent rates (e.g. due to wind) - flare pitch limits and height rate commands are ramped in from the previous iteration's values at flare onset to avoid jumpy commands - TECS controls all aspects of the auto landing airspeed and altitude/height rate, and is only constrained by pitch and throttle limits (lessening unintuitive open loop manuever overrides) - throttle is killed on flare - flare is the singular point of no return during landing - lateral manual nudging of the touchdown point is configurable via parameter, allowing the operator to nudge (via remote) either the touchdown point itself (adjusting approach vector) or shifting the entire approach path to the left or right. this helps when GCS map or GNSS uncertainties set the aircraft on a slightly offset approach"
52 lines
1.1 KiB
Bash
52 lines
1.1 KiB
Bash
#!/bin/sh
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#
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# @name Plane SITL
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#
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. ${R}etc/init.d/rc.fw_defaults
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param set-default EKF2_MAG_ACCLIM 0
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param set-default EKF2_MAG_YAWLIM 0
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param set-default FW_LND_AIRSPD_SC 1
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param set-default FW_LND_ANG 8
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param set-default FW_L1_PERIOD 12
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param set-default FW_MAN_P_MAX 30
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param set-default FW_PR_P 0.9
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param set-default FW_PR_FF 0.2
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param set-default FW_PSP_OFF 2
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param set-default FW_P_LIM_MAX 32
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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_MAX 0.6
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param set-default FW_THR_MIN 0.05
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param set-default FW_THR_TRIM 0.25
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param set-default FW_T_ALT_TC 2
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param set-default FW_T_CLMB_MAX 8
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param set-default FW_T_HRATE_FF 0.5
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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 FW_T_TAS_TC 2
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param set-default FW_W_EN 1
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param set-default MIS_LTRMIN_ALT 30
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param set-default MIS_TAKEOFF_ALT 30
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param set-default NAV_ACC_RAD 15
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param set-default NAV_DLL_ACT 2
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param set-default FW_USE_NPFG 1
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param set-default RWTO_TKOFF 1
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set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
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set MIXER custom
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