mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 14:58:53 +08:00
Silvan Fuhrer
98d07ad1f3
The attitude frame is wrong for tailsitters doing side slip fusion for wind estimation. It doesn't take into account that the frames is 90deg tilted in FW flight. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
76 lines
2.0 KiB
Bash
76 lines
2.0 KiB
Bash
#!/bin/sh
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#
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# @name SIH Tailsitter Duo
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#
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# @type VTOL
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#
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# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
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. ${R}etc/init.d/rc.vtol_defaults
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PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}
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param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
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param set-default SENS_EN_GPSSIM 1
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param set-default SENS_EN_BAROSIM 1
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param set-default SENS_EN_MAGSIM 1
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param set-default VT_ELEV_MC_LOCK 0
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param set-default VT_TYPE 0
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param set-default VT_FW_DIFTHR_EN 1
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param set-default VT_FW_DIFTHR_S_Y 0.3
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param set-default MPC_MAN_Y_MAX 60
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param set-default MC_PITCH_P 5
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param set-default MAV_TYPE 19
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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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param set-default BAT_N_CELLS 3
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param set-default SIH_T_MAX 2.0
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param set-default SIH_Q_MAX 0.0165
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param set-default SIH_MASS 0.2
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# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
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param set-default SIH_IXX 0.00354
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param set-default SIH_IYY 0.000625
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param set-default SIH_IZZ 0.00300
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param set-default SIH_IXZ 0.0
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param set-default SIH_KDV 0.2
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param set-default SIH_L_ROLL 0.145
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# sih as tailsitter
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param set-default SIH_VEHICLE_TYPE 2
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param set-default CA_AIRFRAME 4
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param set-default CA_ROTOR_COUNT 2
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param set-default CA_ROTOR0_PX 0
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param set-default CA_ROTOR0_PY 1
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param set-default CA_ROTOR0_KM 0.05
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param set-default CA_ROTOR1_PX 0
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param set-default CA_ROTOR1_PY -1
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param set-default CA_ROTOR1_KM 0.05
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param set-default CA_SV_CS_COUNT 2
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param set-default CA_SV_CS0_TYPE 5
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param set-default CA_SV_CS0_TRQ_P 0.5
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param set-default CA_SV_CS0_TRQ_Y -0.5
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param set-default CA_SV_CS1_TYPE 6
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param set-default CA_SV_CS1_TRQ_P 0.5
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param set-default CA_SV_CS1_TRQ_Y 0.5
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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_FUNC5 201
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param set-default PWM_MAIN_FUNC6 202
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