mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-15 21:23:34 +08:00
Matthias Grob
d416cd2a6c
A user configurable delay for the internal `vehicle_local_position` seems confusing in my eyes. It's a different timeout for fixed-wing and multirotor which might have made sense earlier but not really anymore since the topic is constantly published by the estimator and not expected to time out on either vehicle type and the parameter description is also misleading because it's outdated.
56 lines
1.4 KiB
Bash
56 lines
1.4 KiB
Bash
#!/bin/sh
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#
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# Fixed wing 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 fw
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# MAV_TYPE_FIXED_WING 1
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param set-default MAV_TYPE 1
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#
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# Default parameters for fixed wing UAVs.
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#
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# there is a 2.5 factor applied on the _FS thresholds if for invalidation
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param set-default COM_POS_FS_EPH 50
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param set-default COM_VEL_FS_EVH 3
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param set-default COM_POS_LOW_EPH 50
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# Disable preflight disarm to not interfere with external launching
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param set-default COM_DISARM_PRFLT -1
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param set-default EKF2_ARSP_THR 8
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param set-default EKF2_FUSE_BETA 1
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param set-default EKF2_GPS_CHECK 21
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param set-default EKF2_MAG_ACCLIM 0
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param set-default EKF2_REQ_EPH 10
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param set-default EKF2_REQ_EPV 10
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param set-default EKF2_REQ_HDRIFT 0.5
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param set-default EKF2_REQ_SACC 1
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param set-default EKF2_REQ_VDRIFT 1
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param set-default EKF2_RNG_QLTY_T 3
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param set-default RTL_TYPE 1
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param set-default RTL_RETURN_ALT 100
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param set-default RTL_DESCEND_ALT 100
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param set-default RTL_LAND_DELAY -1
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#
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# FW uses L1 distance for acceptance radius.
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# Set a smaller NAV_ACC_RAD for vertical acceptance distance.
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#
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param set-default NAV_ACC_RAD 10
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param set-default MIS_TAKEOFF_ALT 25
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param set-default MIS_TKO_LAND_REQ 2
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#
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# FW takeoff acceleration can easily exceed ublox GPS 2G default.
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#
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param set-default GPS_UBX_DYNMODEL 8
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param set-default SYS_HAS_NUM_ASPD 1 # by default require an airspeed sensor
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