mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-25 16:53:34 +08:00
Claudio ChiesandMatthias Grob
8f170bca13
* sih: add thrust model hexacopter model * fix: add missing line break * sihsim_hey airframe: add THR_MDL_FAC to accomodate for simulated quadratic motor thrust. --------- Co-authored-by: Matthias Grob <maetugr@gmail.com>
50 lines
1.3 KiB
Bash
50 lines
1.3 KiB
Bash
#!/bin/sh
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#
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# @name HexarotorX SITL for SIH
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#
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# @type Hexarotor x
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# @class Copter
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#
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# @maintainer Matthias Grob <maetugr@gmail.com>
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#
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. ${R}etc/init.d/rc.mc_defaults
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PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=hex}
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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 SIH_VEHICLE_TYPE 4
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# Symmetric hexacopter X clockwise motor numbering
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param set-default CA_ROTOR_COUNT 6
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param set-default CA_ROTOR0_PX 0.866
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param set-default CA_ROTOR0_PY 0.5
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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_ROTOR2_PX -0.866
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param set-default CA_ROTOR2_PY 0.5
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param set-default CA_ROTOR3_PX -0.866
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param set-default CA_ROTOR3_PY -0.5
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param set-default CA_ROTOR3_KM -0.05
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param set-default CA_ROTOR4_PX 0
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param set-default CA_ROTOR4_PY -1
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param set-default CA_ROTOR5_PX 0.866
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param set-default CA_ROTOR5_PY -0.5
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param set-default CA_ROTOR5_KM -0.05
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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_FUNC3 103
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param set-default PWM_MAIN_FUNC4 104
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param set-default PWM_MAIN_FUNC5 105
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param set-default PWM_MAIN_FUNC6 106
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param set-default EKF2_GPS_DELAY 0
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param set-default THR_MDL_FAC 1 # simulated quadratic motor thrust
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