mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-01 04:51:36 +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>
80 lines
2.1 KiB
Bash
80 lines
2.1 KiB
Bash
#!/bin/sh
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#
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# @name Quadrotor + Tailsitter
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#
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# @type VTOL Quad Tailsitter
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#
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. ${R}etc/init.d/rc.vtol_defaults
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param set-default MAV_TYPE 20
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param set-default CA_AIRFRAME 4
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param set-default CA_ROTOR_COUNT 4
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param set-default CA_ROTOR0_PX 1
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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 -1
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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_ROTOR2_PX 1
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param set-default CA_ROTOR2_PY -1
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param set-default CA_ROTOR2_KM -0.05
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param set-default CA_ROTOR3_PX -1
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param set-default CA_ROTOR3_PY 1
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param set-default CA_ROTOR3_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_FUNC3 103
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param set-default PWM_MAIN_FUNC4 104
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param set-default PWM_MAIN_FUNC5 0
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param set-default PWM_MAIN_FUNC6 201
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param set-default PWM_MAIN_FUNC7 202
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param set-default PWM_MAIN_REV 96 # invert both elevons
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param set-default FW_L1_PERIOD 12
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param set-default FW_PR_I 0.2
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param set-default FW_PR_P 0.2
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param set-default FW_PSP_OFF 2
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param set-default FW_P_LIM_MIN -15
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param set-default FW_RR_P 0.2
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param set-default FW_THR_TRIM 0.33
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param set-default FW_THR_MAX 0.6
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param set-default FW_THR_MIN 0.05
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param set-default FW_T_ALT_TC 2
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param set-default FW_T_CLMB_MAX 8
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param set-default FW_T_HRATE_FF 0.5
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param set-default FW_T_SINK_MAX 2.7
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param set-default FW_T_SINK_MIN 2.2
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param set-default FW_T_TAS_TC 2
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param set-default MC_AIRMODE 1
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param set-default MC_ROLLRATE_P 0.3
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param set-default MPC_ACC_HOR_MAX 2
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param set-default MPC_XY_P 0.8
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param set-default MPC_XY_VEL_P_ACC 3
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param set-default MPC_XY_VEL_I_ACC 4
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param set-default MPC_XY_VEL_D_ACC 0.1
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param set-default NAV_ACC_RAD 5
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param set-default VT_FW_DIFTHR_EN 1
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param set-default VT_FW_DIFTHR_S_Y 0.5
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param set-default VT_F_TRANS_DUR 1.5
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param set-default VT_F_TRANS_THR 0.7
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param set-default VT_TYPE 0
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param set-default WV_EN 0
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