mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-27 21:33:34 +08:00
Daniel AgarandJaeyoung-Lim
cfc579542e
- much simpler direct interface using Ignition Transport - in tree models and worlds - control allocation output configuration, no more magic actuator mapping to mavlink and back - currently requires no custom Gazebo plugins (keeping things as lightweight and simple as possible) Co-authored-by: Jaeyoung-Lim <jalim@ethz.ch>
47 lines
1.1 KiB
Bash
47 lines
1.1 KiB
Bash
#!/bin/sh
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#
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# @name Ignition Gazebo X3
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#
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# @type Quadrotor
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#
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. ${R}etc/init.d/rc.mc_defaults
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param set-default SYS_CTRL_ALLOC 1
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param set-default CA_AIRFRAME 0
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param set-default CA_ROTOR_COUNT 4
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param set-default CA_ROTOR0_PX 0.13
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param set-default CA_ROTOR0_PY 0.22
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param set-default CA_ROTOR0_KM 0.05
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param set-default CA_ROTOR1_PX -0.13
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param set-default CA_ROTOR1_PY -0.20
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param set-default CA_ROTOR1_KM 0.05
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param set-default CA_ROTOR2_PX 0.13
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param set-default CA_ROTOR2_PY -0.22
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param set-default CA_ROTOR2_KM -0.05
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param set-default CA_ROTOR3_PX -0.13
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param set-default CA_ROTOR3_PY 0.20
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param set-default CA_ROTOR3_KM -0.05
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param set-default SIM_GZ_FUNC1 101
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param set-default SIM_GZ_FUNC2 102
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param set-default SIM_GZ_FUNC3 103
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param set-default SIM_GZ_FUNC4 104
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param set-default SIM_GZ_MIN1 150
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param set-default SIM_GZ_MIN2 150
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param set-default SIM_GZ_MIN3 150
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param set-default SIM_GZ_MIN4 150
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param set-default SIM_GZ_MAX1 1000
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param set-default SIM_GZ_MAX2 1000
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param set-default SIM_GZ_MAX3 1000
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param set-default SIM_GZ_MAX4 1000
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param set-default MPC_THR_HOVER 0.60
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