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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-31 20:01:37 +08:00
80 lines
1.9 KiB
Plaintext
80 lines
1.9 KiB
Plaintext
#!nsh
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#
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# @name Standard vtol HITL (gazebo standard_vtol model)
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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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sh /etc/init.d/rc.vtol_defaults
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if [ $AUTOCNF == yes ]
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then
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param set BAT_N_CELLS 3
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param set CAL_ACC0_ID 1376264
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param set CAL_ACC0_XOFF 0.01
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param set CAL_ACC0_XSCALE 1.01
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param set CAL_ACC0_YOFF -0.01
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param set CAL_ACC0_YSCALE 1.01
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param set CAL_ACC0_ZOFF 0.01
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param set CAL_ACC0_ZSCALE 1.01
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param set CAL_ACC1_ID 1310728
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param set CAL_ACC1_XOFF 0.01
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param set CAL_GYRO0_ID 2293768
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param set CAL_GYRO0_XOFF 0.01
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param set CAL_MAG0_ID 196616
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param set CAL_MAG0_XOFF 0.01
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param set COM_DISARM_LAND 5
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param set COM_RC_IN_MODE 1
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param set EKF2_AID_MASK 1
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param set EKF2_ANGERR_INIT 0.01
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param set EKF2_GBIAS_INIT 0.01
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param set EKF2_HGT_MODE 0
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param set EKF2_MAG_TYPE 1
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param set FW_AIRSPD_MAX 25
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param set FW_AIRSPD_MIN 14
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param set FW_AIRSPD_TRIM 16
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param set MAV_TYPE 20
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param set MC_PITCH_P 6
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param set MC_PITCHRATE_P 0.2
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param set MC_ROLL_P 6
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param set MC_ROLLRATE_P 0.3
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param set MIS_LTRMIN_ALT 10
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param set MIS_TAKEOFF_ALT 10
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param set MIS_YAW_TMT 10
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param set MPC_ACC_HOR_MAX 2
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param set MPC_ACC_HOR_MAX 2.0
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param set MPC_THR_MIN 0.1
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param set MPC_TKO_SPEED 1.0
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param set MPC_XY_P 0.8
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param set MPC_XY_VEL_D 0.005
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param set MPC_XY_VEL_I 0.2
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param set MPC_XY_VEL_P 0.15
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param set MPC_Z_VEL_I 0.15
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param set MPC_Z_VEL_MAX_DN 1.5
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param set MPC_Z_VEL_P 0.6
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param set NAV_ACC_RAD 5.0
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param set NAV_DLL_ACT 2
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param set NAV_LOITER_RAD 80
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param set RTL_DESCEND_ALT 10.0
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param set RTL_LAND_DELAY 0
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param set RTL_RETURN_ALT 30.0
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param set SDLOG_DIRS_MAX 7
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param set SENS_BOARD_ROT 0
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param set SENS_BOARD_X_OFF 0.000001
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param set SENS_DPRES_OFF 0.001
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param set SYS_MC_EST_GROUP 2
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param set SYS_RESTART_TYPE 2
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param set VT_F_TRANS_THR 0.75
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param set VT_MOT_COUNT 4
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param set VT_TYPE 2
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fi
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set MIXER standard_vtol_hitl
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set MAV_TYPE 22
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set PWM_OUT 1234
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param set SYS_HITL 1 |