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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-21 23:13:34 +08:00
Silvan Fuhrer
cedf14e2ba
This new airspeed module does: -runns an airspeed validator for every airspeed sensor present, which checks measurement validity and estimates an airspeed scale -selects another airspeed sensor if for the current one a failure is detected -estimates airspeed with groundspeed-windspeed if no valid airspeed sensor is present -outputs airspeed_validated topic Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
47 lines
876 B
Bash
47 lines
876 B
Bash
#!/bin/sh
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#
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# @name Quadrotor + Tailsitter
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#
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# @type VTOL Quad Tailsitter
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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 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 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
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param set MPC_THR_MIN 0.1
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param set MPC_TKO_SPEED 1
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param set MPC_XY_P 0.15
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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 0.05
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param set MPC_Z_VEL_MAX_DN 1.5
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param set MPC_Z_VEL_P 0.8
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param set NAV_ACC_RAD 5
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param set NAV_LOITER_RAD 80
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param set VT_F_TRANS_DUR 1.5
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param set VT_F_TRANS_THR 0.7
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param set VT_MOT_COUNT 0
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param set VT_TYPE 0
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fi
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set MAV_TYPE 20
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set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
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set MIXER custom
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