mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-27 18:13:34 +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>
77 lines
1.9 KiB
Bash
77 lines
1.9 KiB
Bash
#!/bin/sh
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#
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# @name Ignition Gazebo X4
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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 6
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param set-default CA_ROTOR0_PX 0.25
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param set-default CA_ROTOR0_PY -0.15
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param set-default CA_ROTOR0_KM 0.05
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param set-default CA_ROTOR1_PX 0.00
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param set-default CA_ROTOR1_PY -0.29
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param set-default CA_ROTOR1_KM -0.05
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param set-default CA_ROTOR2_PX -0.25
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param set-default CA_ROTOR2_PY -0.15
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param set-default CA_ROTOR2_KM 0.05
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param set-default CA_ROTOR3_PX -0.25
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param set-default CA_ROTOR3_PY 0.15
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param set-default CA_ROTOR3_KM -0.05
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param set-default CA_ROTOR4_PX 0.00
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param set-default CA_ROTOR4_PY 0.29
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param set-default CA_ROTOR4_KM 0.05
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param set-default CA_ROTOR5_PX 0.25
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param set-default CA_ROTOR5_PY 0.15
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param set-default CA_ROTOR5_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_FUNC5 105
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param set-default SIM_GZ_FUNC6 106
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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_MIN5 150
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param set-default SIM_GZ_MIN6 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 SIM_GZ_MAX5 1000
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param set-default SIM_GZ_MAX6 1000
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param set-default MC_PITCHRATE_D 0.0016
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param set-default MC_PITCHRATE_I 0.2500
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param set-default MC_PITCHRATE_P 0.1831
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param set-default MC_PITCH_P 5.216
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param set-default MC_ROLLRATE_D 0.0022
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param set-default MC_ROLLRATE_I 0.2095
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param set-default MC_ROLLRATE_P 0.1570
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param set-default MC_ROLL_P 6.081
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param set-default MC_YAWRATE_D 0.0009
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param set-default MC_YAWRATE_I 0.1800
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param set-default MC_YAWRATE_P 0.1773
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param set-default MC_YAW_P 5.386490
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param set-default MPC_THR_HOVER 0.61
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