mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-27 05:43:34 +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)
52 lines
1.3 KiB
Bash
52 lines
1.3 KiB
Bash
#!/bin/sh
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#
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# @name Plane SITL for SIH
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#
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# @type Plane
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#
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# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
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. ${R}etc/init.d/rc.fw_defaults
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PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=airplane}
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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 6.0
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param set-default SIH_MASS 0.3
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param set-default SIH_IXX 0.00402
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param set-default SIH_IYY 0.0144
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param set-default SIH_IZZ 0.0177
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param set-default SIH_IXZ 0.00046
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param set-default SIH_KDV 0.2
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param set-default SIH_VEHICLE_TYPE 1 # sih as fixed wing
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param set-default RWTO_TKOFF 1 # enable takeoff from runway (as opposed to launched)
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param set-default CA_AIRFRAME 1
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param set-default CA_ROTOR_COUNT 1
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param set-default CA_SV_CS_COUNT 3
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param set-default CA_SV_CS0_TRQ_R -0.5
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param set-default CA_SV_CS0_TYPE 1
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param set-default CA_SV_CS1_TRQ_P 1.0
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param set-default CA_SV_CS1_TYPE 3
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param set-default CA_SV_CS2_TRQ_Y 1.0
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param set-default CA_SV_CS2_TYPE 4
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param set-default PWM_MAIN_FUNC3 201
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param set-default PWM_MAIN_FUNC4 202
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param set-default PWM_MAIN_FUNC5 203
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param set-default PWM_MAIN_FUNC6 101
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