mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 23:03:35 +08:00
Lorenz Meier
171ccd1203
The main changes include: * Better attitude tuning for airframes (more realistic models, the models had previously not as much thrust as the real vehicles) * Better waypoint and navigation default parameters which match the on-hardware parameters * More suitable minimum and trim airspeeds for VTOL and fixed wing which prevents stalls that happened in SITL previously (the new airspeeds match the real vehicles nicely)
77 lines
2.1 KiB
Plaintext
77 lines
2.1 KiB
Plaintext
uorb start
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param load
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param set MAV_TYPE 2
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param set SYS_AUTOSTART 4010
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param set SYS_RESTART_TYPE 2
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param set SYS_MC_EST_GROUP 2
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dataman start
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param set BAT_N_CELLS 3
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param set CAL_GYRO0_ID 2293768
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param set CAL_ACC0_ID 1376264
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param set CAL_ACC1_ID 1310728
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param set CAL_MAG0_ID 196616
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param set CAL_GYRO0_XOFF 0.01
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param set CAL_ACC0_XOFF 0.01
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param set CAL_ACC0_YOFF -0.01
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param set CAL_ACC0_ZOFF 0.01
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param set CAL_ACC0_XSCALE 1.01
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param set CAL_ACC0_YSCALE 1.01
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param set CAL_ACC0_ZSCALE 1.01
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param set CAL_ACC1_XOFF 0.01
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param set CAL_MAG0_XOFF 0.01
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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 COM_RC_IN_MODE 1
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param set NAV_DLL_ACT 2
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param set COM_DISARM_LAND 3
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param set NAV_ACC_RAD 2.0
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param set RTL_RETURN_ALT 30.0
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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 MIS_TAKEOFF_ALT 2.5
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param set MC_ROLLRATE_P 0.15
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param set MC_PITCHRATE_P 0.15
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param set MC_PITCH_P 6
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param set MC_ROLL_P 6
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param set MPC_HOLD_MAX_Z 2.0
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param set MPC_HOLD_XY_DZ 0.1
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param set MPC_Z_VEL_P 0.6
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param set MPC_Z_VEL_I 0.15
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param set EKF2_GBIAS_INIT 0.01
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param set EKF2_ANGERR_INIT 0.01
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param set EKF2_MAG_TYPE 1
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replay tryapplyparams
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simulator start -s
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rgbledsim start
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tone_alarm start
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gyrosim start
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accelsim start
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barosim start
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adcsim start
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gpssim start
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pwm_out_sim mode_pwm
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sleep 1
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sensors start
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commander start
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land_detector start multicopter
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navigator start
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ekf2 start
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mc_pos_control start
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mc_att_control start
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mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
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mavlink start -u 14556 -r 4000000
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mavlink start -u 14557 -r 4000000 -m onboard -o 14540
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mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
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mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
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mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
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mavlink stream -r 50 -s ATTITUDE -u 14556
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mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
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mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
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mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
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mavlink stream -r 20 -s RC_CHANNELS -u 14556
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mavlink stream -r 250 -s HIGHRES_IMU -u 14556
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mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
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sdlog2 start -r 100 -e -t -a
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mavlink boot_complete
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replay trystart
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