mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-25 10:33:35 +08:00
JaeyoungLim
a9542baf3c
* Enable motor controls for fixed wing mode in tailsitters This commit enable motor controls in fixed wing mode for tailsitters This is needed for enabling quad tailsitters * VTOL: differential thrust in FW: adapt params to be generic for all axes Until now only suppoted on yaw axis. Not to be supported also on Roll and Pitch. - VT_FW_DIFTHR_EN: make bitmask for all three axes independently. First bit is Yaw, sucht that existing meaning of VT_FW_DIFTHR_EN doesn't change. - VT_FW_DIFTHR_SC: rename to VT_FW_DIFTHR_S_Y and add same params for roll (_R) and pitch (_P). Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * Integrate differential control bits to three axis control Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
70 lines
1.8 KiB
Bash
70 lines
1.8 KiB
Bash
#!/bin/sh
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#
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# @name SIH Tailsitter Duo
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#
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# @type VTOL
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#
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# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
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. ${R}etc/init.d/rc.vtol_defaults
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PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}
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param set-default VT_ELEV_MC_LOCK 0
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param set-default VT_TYPE 0
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param set-default VT_FW_DIFTHR_EN 1
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param set-default VT_FW_DIFTHR_S_Y 0.3
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param set-default MPC_MAN_Y_MAX 60
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param set-default MC_PITCH_P 5
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param set-default MAV_TYPE 19
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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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param set-default BAT_N_CELLS 3
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param set-default SIH_T_MAX 2.0
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param set-default SIH_Q_MAX 0.0165
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param set-default SIH_MASS 0.2
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# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
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param set-default SIH_IXX 0.00354
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param set-default SIH_IYY 0.000625
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param set-default SIH_IZZ 0.00300
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param set-default SIH_IXZ 0.0
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param set-default SIH_KDV 0.2
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param set-default SIH_L_ROLL 0.145
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# sih as tailsitter
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param set-default SIH_VEHICLE_TYPE 2
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param set-default CA_AIRFRAME 4
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param set-default CA_ROTOR_COUNT 2
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param set-default CA_ROTOR0_PX 0
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param set-default CA_ROTOR0_PY 2
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param set-default CA_ROTOR0_KM 0.05
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param set-default CA_ROTOR1_PX 0
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param set-default CA_ROTOR1_PY -1
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param set-default CA_ROTOR1_KM 0.05
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param set-default CA_SV_CS_COUNT 2
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param set-default CA_SV_CS0_TYPE 5
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param set-default CA_SV_CS0_TRQ_P 0.5
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param set-default CA_SV_CS0_TRQ_Y -0.5
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param set-default CA_SV_CS1_TYPE 6
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param set-default CA_SV_CS1_TRQ_P 0.5
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param set-default CA_SV_CS1_TRQ_Y 0.5
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param set-default PWM_MAIN_FUNC1 101
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param set-default PWM_MAIN_FUNC2 102
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param set-default PWM_MAIN_FUNC5 201
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param set-default PWM_MAIN_FUNC6 202
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