mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-28 00:13:34 +08:00
Thomas Stastny
87e09ad9f5
- landing slope/curve library removed - flare curve removed (the position setpoints will not be tracked during a flare, and were being ignored by open-loop maneuvers anyway) - flare curve replaced by simply commanding a constant glide slope to the ground from the approach entrance, and commanding a sink rate once below flaring alt - flare is now time-to-touchdown -based to account for differing descent rates (e.g. due to wind) - flare pitch limits and height rate commands are ramped in from the previous iteration's values at flare onset to avoid jumpy commands - TECS controls all aspects of the auto landing airspeed and altitude/height rate, and is only constrained by pitch and throttle limits (lessening unintuitive open loop manuever overrides) - throttle is killed on flare - flare is the singular point of no return during landing - lateral manual nudging of the touchdown point is configurable via parameter, allowing the operator to nudge (via remote) either the touchdown point itself (adjusting approach vector) or shifting the entire approach path to the left or right. this helps when GCS map or GNSS uncertainties set the aircraft on a slightly offset approach"
73 lines
1.7 KiB
Bash
73 lines
1.7 KiB
Bash
#!/bin/sh
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#
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# @name HILStar (XPlane)
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#
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# @type Simulation
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# @class Plane
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#
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# @output MAIN1 aileron
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# @output MAIN2 elevator
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# @output MAIN3 rudder
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# @output MAIN4 throttle
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# @output MAIN5 flaps
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# @output MAIN6 gear
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#
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# @maintainer Lorenz Meier <lorenz@px4.io>
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# @board px4_fmu-v2 exclude
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#
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. ${R}etc/init.d/rc.fw_defaults
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param set-default BAT1_N_CELLS 3
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param set-default FW_AIRSPD_MAX 20
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param set-default FW_AIRSPD_MIN 12
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param set-default FW_AIRSPD_TRIM 14
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param set-default FW_R_TC 0.3
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param set-default FW_P_TC 0.3
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param set-default FW_L1_DAMPING 0.74
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param set-default FW_L1_PERIOD 16
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param set-default FW_LND_ANG 15
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param set-default FW_LND_FLALT 5
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param set-default FW_PR_FF 0.35
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param set-default FW_PR_P 0.2
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param set-default FW_RR_FF 0.6
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param set-default FW_RR_P 0.3
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param set-default RWTO_TKOFF 1
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param set-default CA_AIRFRAME 1
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param set-default CA_ROTOR_COUNT 1
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param set-default CA_ROTOR0_PX 0.3
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param set-default CA_SV_CS_COUNT 4
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param set-default CA_SV_CS0_TRQ_R 0.5
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param set-default CA_SV_CS0_TYPE 2
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param set-default CA_SV_CS1_TRQ_P 1.0
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param set-default CA_SV_CS1_TYPE 3
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param set-default CA_SV_CS2_TRQ_Y 1.0
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param set-default CA_SV_CS2_TYPE 4
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param set-default CA_SV_CS3_TYPE 10
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param set-default HIL_ACT_REV 2
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param set-default HIL_ACT_FUNC1 201
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param set-default HIL_ACT_FUNC2 202
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param set-default HIL_ACT_FUNC3 203
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param set-default HIL_ACT_FUNC4 101
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param set-default HIL_ACT_FUNC5 204
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param set-default HIL_ACT_FUNC6 400
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param set SYS_HITL 1
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param set UAVCAN_ENABLE 0
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# disable some checks to allow to fly
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# - with usb
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param set-default CBRK_USB_CHK 197848
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# - without real battery
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param set-default CBRK_SUPPLY_CHK 894281
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# - without safety switch
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param set-default COM_PREARM_MODE 0
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param set-default CBRK_IO_SAFETY 22027
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set MIXER AERT
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