mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
b26dd4d3f3
To separate accuracy requirements for VTOL hover and cruise. - global_position_relaxed refers to having a valid horizontal velocity aid source in the estimator and a set global reference position, but poses no requirements on the accuracy of the provided position estimate. - Auto flight modes Mission, Loiter and RTL, while in fixed-wing mode, only require the relaxed global position going forward - COM_POS_FS_EPH is thus no longer used on fixed-wing vehicles (resp. VTOL in FW) - rename failsafe_flags.local_position_accuracy_low to failsafe_flags.position_accuracy_low --------- Signed-off-by: RomanBapst <bapstroman@gmail.com> Signed-off-by: Silvan Fuhrer <silvan@auterion.com> Co-authored-by: Silvan <silvan@auterion.com>
53 lines
1.3 KiB
Bash
53 lines
1.3 KiB
Bash
#!/bin/sh
|
|
#
|
|
# Fixed wing default parameters
|
|
#
|
|
# NOTE: Script variables are declared/initialized/unset in the rcS script.
|
|
#
|
|
|
|
set VEHICLE_TYPE fw
|
|
|
|
# MAV_TYPE_FIXED_WING 1
|
|
param set-default MAV_TYPE 1
|
|
|
|
#
|
|
# Default parameters for fixed wing UAVs.
|
|
#
|
|
param set-default COM_VEL_FS_EVH 3
|
|
|
|
param set-default COM_POS_LOW_EPH 50
|
|
|
|
# Disable preflight disarm to not interfere with external launching
|
|
param set-default COM_DISARM_PRFLT -1
|
|
|
|
param set-default EKF2_ARSP_THR 8
|
|
param set-default EKF2_FUSE_BETA 1
|
|
param set-default EKF2_MAG_ACCLIM 0
|
|
param set-default EKF2_REQ_EPH 10
|
|
param set-default EKF2_REQ_EPV 10
|
|
param set-default EKF2_REQ_HDRIFT 0.5
|
|
param set-default EKF2_REQ_SACC 1
|
|
param set-default EKF2_REQ_VDRIFT 1
|
|
param set-default EKF2_RNG_QLTY_T 3
|
|
|
|
param set-default RTL_TYPE 1
|
|
param set-default RTL_RETURN_ALT 100
|
|
param set-default RTL_DESCEND_ALT 100
|
|
param set-default RTL_LAND_DELAY -1
|
|
|
|
#
|
|
# FW uses L1 distance for acceptance radius.
|
|
# Set a smaller NAV_ACC_RAD for vertical acceptance distance.
|
|
#
|
|
param set-default NAV_ACC_RAD 10
|
|
|
|
param set-default MIS_TAKEOFF_ALT 25
|
|
param set-default MIS_TKO_LAND_REQ 2
|
|
|
|
#
|
|
# FW takeoff acceleration can easily exceed ublox GPS 2G default.
|
|
#
|
|
param set-default GPS_UBX_DYNMODEL 8
|
|
|
|
param set-default SYS_HAS_NUM_ASPD 1 # by default require an airspeed sensor
|