mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-15 18:21:36 +08:00
JacobCrabill
c1ca5b50a4
- Add 'actuatorType()' to ActuatorEffectiveness - Map outputs to uORB topics by type - Fix incorrect number of outputs in StandardVTOL - Fix 1050_standard_vtol_ctrlalloc airframe file
111 lines
3.0 KiB
Bash
111 lines
3.0 KiB
Bash
#!/bin/sh
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#
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# @name Standard VTOL
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#
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# @type Standard VTOL
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#
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. ${R}etc/init.d/rc.vtol_defaults
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param set-default SYS_CTRL_ALLOC 1
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param set-default VM_MASS 1.5
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param set-default VM_INERTIA_XX 0.03
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param set-default VM_INERTIA_YY 0.03
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param set-default VM_INERTIA_ZZ 0.05
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param set-default FW_L1_PERIOD 12
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param set-default FW_MAN_P_MAX 30
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param set-default FW_PR_FF 0.2
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param set-default FW_PR_P 0.9
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param set-default FW_PSP_OFF 2
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param set-default FW_P_LIM_MAX 32
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param set-default FW_P_LIM_MIN -15
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param set-default FW_RR_FF 0.1
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param set-default FW_RR_P 0.3
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param set-default FW_THR_CRUISE 0.25
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param set-default FW_THR_MAX 0.6
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param set-default FW_THR_MIN 0.05
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param set-default FW_T_ALT_TC 2
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param set-default FW_T_CLMB_MAX 8
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param set-default FW_T_HRATE_FF 0.5
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param set-default FW_T_SINK_MAX 2.7
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param set-default FW_T_SINK_MIN 2.2
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param set-default FW_T_TAS_TC 2
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param set-default MC_ROLLRATE_P 0.3
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param set-default MC_YAW_P 1.6
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param set-default MIS_TAKEOFF_ALT 10
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param set-default MPC_ACC_HOR_MAX 2
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param set-default MPC_XY_P 0.8
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param set-default MPC_XY_VEL_P_ACC 3
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param set-default MPC_XY_VEL_I_ACC 4
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param set-default MPC_XY_VEL_D_ACC 0.1
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param set-default NAV_ACC_RAD 5
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param set-default NAV_LOITER_RAD 80
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param set-default VT_FWD_THRUST_EN 4
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param set-default VT_F_TRANS_THR 0.75
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param set-default VT_MOT_ID 1234
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param set-default VT_FW_MOT_OFFID 1234
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param set-default VT_B_TRANS_DUR 8
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param set-default VT_TYPE 2
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param set-default CA_AIRFRAME 1
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param set-default CA_METHOD 1
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# VTOL Motors
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param set-default CA_ACT0_MIN 0.0
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param set-default CA_ACT1_MIN 0.0
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param set-default CA_ACT2_MIN 0.0
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param set-default CA_ACT3_MIN 0.0
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param set-default CA_ACT0_MAX 1.0
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param set-default CA_ACT1_MAX 1.0
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param set-default CA_ACT2_MAX 1.0
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param set-default CA_ACT3_MAX 1.0
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# Throttle
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param set-default CA_ACT4_MIN 0.0
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param set-default CA_ACT4_MAX 1.0
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# Ailerons/Ruddervator
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param set-default CA_ACT5_MIN -1.0
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param set-default CA_ACT5_MAX 1.0
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param set-default CA_ACT6_MIN -1.0
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param set-default CA_ACT6_MAX 1.0
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param set-default CA_ACT7_MIN -1.0
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param set-default CA_ACT7_MAX 1.0
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param set-default CA_MC_R0_PX 0.177
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param set-default CA_MC_R0_PY 0.177
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param set-default CA_MC_R0_CT 6.5
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param set-default CA_MC_R0_KM 0.05
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param set-default CA_MC_R1_PX -0.177
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param set-default CA_MC_R1_PY -0.177
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param set-default CA_MC_R1_CT 6.5
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param set-default CA_MC_R1_KM 0.05
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param set-default CA_MC_R2_PX 0.177
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param set-default CA_MC_R2_PY -0.177
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param set-default CA_MC_R2_CT 6.5
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param set-default CA_MC_R2_KM -0.05
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param set-default CA_MC_R3_PX -0.177
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param set-default CA_MC_R3_PY 0.177
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param set-default CA_MC_R3_CT 6.5
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param set-default CA_MC_R3_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 # Setting pusher to Motor5 for now
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param set-default PWM_MAIN_FUNC6 201
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param set-default PWM_MAIN_FUNC7 202
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param set-default PWM_MAIN_FUNC8 203
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set MAV_TYPE 22
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set MIXER skip
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