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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>
34 lines
884 B
Bash
34 lines
884 B
Bash
#!/bin/sh
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#
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# @name Generic VTOL Tailsitter
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#
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# @type VTOL Tailsitter
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# @class VTOL
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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 EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
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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_KM -0.05
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param set-default CA_ROTOR0_PY -0.2
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param set-default CA_ROTOR1_KM 0.05
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param set-default CA_ROTOR1_PY 0.2
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param set-default CA_SV_CS_COUNT 2
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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_CS0_TYPE 5
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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 CA_SV_CS1_TYPE 6
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param set-default MAV_TYPE 19
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param set-default VT_TYPE 0
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param set-default VT_ELEV_MC_LOCK 0
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