mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-25 01:43:33 +08:00
Beat Küng
4d60fadc05
Removes some airframes: - if750a - solo - iris_ctrlalloc - typhoon_h480_ctrlalloc
67 lines
1.8 KiB
Bash
67 lines
1.8 KiB
Bash
#!/bin/sh
|
|
#
|
|
# @name SIH Tailsitter Duo
|
|
#
|
|
# @type VTOL
|
|
#
|
|
# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
|
|
|
|
. ${R}etc/init.d/rc.vtol_defaults
|
|
|
|
param set-default VT_ELEV_MC_LOCK 0
|
|
param set-default VT_TYPE 0
|
|
param set-default VT_FW_DIFTHR_EN 1
|
|
param set-default VT_FW_DIFTHR_SC 0.3
|
|
param set-default MPC_MAN_Y_MAX 60
|
|
param set-default MC_PITCH_P 5
|
|
|
|
param set-default MAV_TYPE 19
|
|
|
|
# disable some checks to allow to fly:
|
|
# - with usb
|
|
param set-default CBRK_USB_CHK 197848
|
|
# - without real battery
|
|
param set-default CBRK_SUPPLY_CHK 894281
|
|
# - without safety switch
|
|
param set-default COM_PREARM_MODE 0
|
|
param set-default CBRK_IO_SAFETY 22027
|
|
|
|
param set-default BAT_N_CELLS 3
|
|
|
|
param set-default SIH_T_MAX 2.0
|
|
param set-default SIH_Q_MAX 0.0165
|
|
param set-default SIH_MASS 0.2
|
|
# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
|
|
param set-default SIH_IXX 0.00354
|
|
param set-default SIH_IYY 0.000625
|
|
param set-default SIH_IZZ 0.00300
|
|
param set-default SIH_IXZ 0.0
|
|
param set-default SIH_KDV 0.2
|
|
param set-default SIH_L_ROLL 0.145
|
|
|
|
# sih as tailsitter
|
|
param set-default SIH_VEHICLE_TYPE 2
|
|
|
|
param set-default CA_AIRFRAME 4
|
|
|
|
param set-default CA_ROTOR_COUNT 2
|
|
param set-default CA_ROTOR0_PX 0
|
|
param set-default CA_ROTOR0_PY 2
|
|
param set-default CA_ROTOR0_KM 0.05
|
|
param set-default CA_ROTOR1_PX 0
|
|
param set-default CA_ROTOR1_PY -1
|
|
param set-default CA_ROTOR1_KM 0.05
|
|
|
|
param set-default CA_SV_CS_COUNT 2
|
|
param set-default CA_SV_CS0_TYPE 5
|
|
param set-default CA_SV_CS0_TRQ_P 0.5
|
|
param set-default CA_SV_CS0_TRQ_Y -0.5
|
|
param set-default CA_SV_CS1_TYPE 6
|
|
param set-default CA_SV_CS1_TRQ_P 0.5
|
|
param set-default CA_SV_CS1_TRQ_Y 0.5
|
|
|
|
param set-default PWM_MAIN_FUNC1 101
|
|
param set-default PWM_MAIN_FUNC2 102
|
|
param set-default PWM_MAIN_FUNC5 201
|
|
param set-default PWM_MAIN_FUNC6 202
|