mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-25 21:43:34 +08:00
Daniel Agar
4040e4cdf2
- new modules/simulation directory to collect all simulators and related modules - new Tools/simulation directory to collect and organize scattered simulation submodules, scripts, etc - simulation module renamed to simulator_mavlink - sih renamed to simulator_sih (not a great name, but I wanted to be clear it was a simulator) - ignition_simulator renamed to simulator_ignition_bridge - large sitl_target.cmake split by simulation option and in some cases pushed to appropriate modules - sitl targets broken down to what's actually available (eg jmavsim only has 1 model and 1 world) - new Gazebo consistently referred to as Ignition for now (probably the least confusing thing until we fully drop Gazebo classic support someday)
45 lines
1.1 KiB
Bash
45 lines
1.1 KiB
Bash
#!/bin/sh
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#
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# @name QuadrotorX SITL for SIH
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#
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# @type Quadrotor
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#
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# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
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#
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. ${R}etc/init.d/rc.mc_defaults
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PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadx}
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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 CA_ROTOR_COUNT 4
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param set-default CA_ROTOR0_PX 0.15
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param set-default CA_ROTOR0_PY 0.15
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param set-default CA_ROTOR0_KM 0.05
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param set-default CA_ROTOR1_PX -0.15
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param set-default CA_ROTOR1_PY -0.15
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param set-default CA_ROTOR1_KM 0.05
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param set-default CA_ROTOR2_PX 0.15
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param set-default CA_ROTOR2_PY -0.15
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param set-default CA_ROTOR2_KM -0.05
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param set-default CA_ROTOR3_PX -0.15
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param set-default CA_ROTOR3_PY 0.15
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param set-default CA_ROTOR3_KM -0.05
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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 SIH_VEHICLE_TYPE 0
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