mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-21 22:43:33 +08:00
Silvan Fuhrer
9b3a28dff5
Set this flag to true if local position is valid but accuracy low, such that the operator can be warned before system switches to position-failure failsafe. Additionally, switch to RTL if currently in Mission or Loiter to try to reach home or fly out of GNSS-denied area. Set low accuracy threshold to 50m by default for FW and VTOL. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
58 lines
1.4 KiB
Bash
58 lines
1.4 KiB
Bash
#!/bin/sh
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#
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# Fixed wing default parameters
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#
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# NOTE: Script variables are declared/initialized/unset in the rcS script.
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#
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set VEHICLE_TYPE fw
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# MAV_TYPE_FIXED_WING 1
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param set-default MAV_TYPE 1
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#
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# Default parameters for fixed wing UAVs.
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#
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param set-default COM_POS_FS_DELAY 5
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# there is a 2.5 factor applied on the _FS thresholds if for invalidation
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param set-default COM_POS_FS_EPH 50
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param set-default COM_POS_FS_EPV 30
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param set-default COM_VEL_FS_EVH 5
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param set-default COM_POS_LOW_EPH 50
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# Disable preflight disarm to not interfere with external launching
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param set-default COM_DISARM_PRFLT -1
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param set-default EKF2_ARSP_THR 8
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param set-default EKF2_FUSE_BETA 1
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param set-default EKF2_GPS_CHECK 21
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param set-default EKF2_MAG_ACCLIM 0
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param set-default EKF2_MAG_YAWLIM 0
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param set-default EKF2_REQ_EPH 10
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param set-default EKF2_REQ_EPV 10
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param set-default EKF2_REQ_HDRIFT 0.5
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param set-default EKF2_REQ_SACC 1
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param set-default EKF2_REQ_VDRIFT 1.0
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param set-default RTL_TYPE 1
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param set-default RTL_RETURN_ALT 100
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param set-default RTL_DESCEND_ALT 100
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param set-default RTL_LAND_DELAY -1
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#
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# FW uses L1 distance for acceptance radius.
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# Set a smaller NAV_ACC_RAD for vertical acceptance distance.
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#
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param set-default NAV_ACC_RAD 10
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param set-default MIS_DIST_WPS 5000
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param set-default MIS_TAKEOFF_ALT 25
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param set-default MIS_TKO_LAND_REQ 2
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#
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# FW takeoff acceleration can easily exceed ublox GPS 2G default.
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#
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param set-default GPS_UBX_DYNMODEL 8
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