mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-15 18:23:34 +08:00
Silvan Fuhrer
9b3a28dff5
Set this flag to true if local position is valid but accuracy low, such that the operator can be warned before system switches to position-failure failsafe. Additionally, switch to RTL if currently in Mission or Loiter to try to reach home or fly out of GNSS-denied area. Set low accuracy threshold to 50m by default for FW and VTOL. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
48 lines
1.2 KiB
Bash
48 lines
1.2 KiB
Bash
#!/bin/sh
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#
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# VTOL default parameters.
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#
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# NOTE: Script variables are declared/initialized/unset in the rcS script.
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#
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set VEHICLE_TYPE vtol
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# MAV_TYPE_VTOL_FIXEDROTOR 22
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param set-default MAV_TYPE 22
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# there is a 2.5 factor applied on COM_POS_FS_EPH if for invalidation
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param set-default COM_POS_FS_EPH 50
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param set-default COM_POS_LOW_EPH 50
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param set-default MIS_TAKEOFF_ALT 20
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param set-default MIS_YAW_TMT 10
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param set-default EKF2_ARSP_THR 10
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param set-default EKF2_FUSE_BETA 1
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param set-default HTE_VXY_THR 2.0
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param set-default MIS_DIST_WPS 5000
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param set-default MIS_TKO_LAND_REQ 2
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param set-default MPC_ACC_HOR_MAX 2
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param set-default MPC_VEL_MANUAL 5
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param set-default MPC_XY_CRUISE 5
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param set-default MPC_XY_ERR_MAX 5
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param set-default MPC_XY_VEL_MAX 8
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param set-default MPC_JERK_MAX 4.5
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param set-default MPC_YAW_MODE 4
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# reduce aggressiveness around roll and yaw axis,
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# as VTOLs usually have high intertia and lot af drag due to wings
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param set-default MC_ROLL_P 5
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param set-default MC_ROLLRATE_MAX 120
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param set-default MC_YAW_P 2
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param set-default MC_YAWRATE_MAX 120
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param set-default MPC_MAN_Y_MAX 90
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param set-default RTL_TYPE 1
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param set-default WV_EN 1
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