mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-21 09:23:35 +08:00
Silvan Fuhrer
0941ae7579
MIS_LTRMIN_ALt was used to limit the go-to altitude of a LOITER_TO_ALT (not the exit altitude, but the altitude that the vehicle went to to fly to WP), and during landing abort to climb to at least this altitude. The min entry altitude of LOITER_TO_ALT I remove with this commit, while for the min alt during abort I added the new parameter MIS_LND_ABRT_ALT. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
108 lines
2.7 KiB
Bash
108 lines
2.7 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_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_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 NAV_ACC_RAD 5
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param set-default NAV_DLL_ACT 2
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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_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_CS0_TRQ_R -0.5
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param set-default CA_SV_CS0_TYPE 1
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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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param set UAVCAN_ENABLE 0
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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 MAV_TYPE 22
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