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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-25 14:53:34 +08:00
Ramon Rocheandromain-chiap
3c5574c051
--------- Signed-off-by: romain-chiap <romain.chiap@gmail.com> Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: romain-chiap <romain.chiap@gmail.com>
69 lines
1.8 KiB
Bash
69 lines
1.8 KiB
Bash
#!/bin/sh
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#
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# @name SIH plane AERT
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#
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# @type Simulation
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# @class Plane
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#
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# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
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#
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# @board px4_fmu-v2 exclude
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#
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. ${R}etc/init.d/rc.fw_defaults
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param set UAVCAN_ENABLE 0
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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_ROTOR0_PX 0.3
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# SIH for now hardcodes this configuration which we need to match in the airframe files.
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param set-default CA_SV_CS_COUNT 3
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param set-default CA_SV_CS0_TRQ_R 1
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param set-default CA_SV_CS0_TYPE 15 # single channel aileron
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param set-default CA_SV_CS1_TRQ_P 1
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param set-default CA_SV_CS1_TYPE 3 # elevator
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param set-default CA_SV_CS2_TRQ_Y 1
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param set-default CA_SV_CS2_TYPE 4 # rudder
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param set HIL_ACT_FUNC1 201
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param set HIL_ACT_FUNC2 202
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param set HIL_ACT_FUNC3 203
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param set HIL_ACT_FUNC4 101
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# set SYS_HITL to 2 to start the SIH and avoid sensors startup
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param set-default SYS_HITL 2
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# disable some checks to allow to fly:
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# - without real battery
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param set-default CBRK_SUPPLY_CHK 894281
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param set SIH_MASS 0.3
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param set SIH_IXX 0.00402
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param set SIH_IYY 0.0144
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param set SIH_IZZ 0.0177
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param set SIH_IXZ 0.00046
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param set SIH_KDV 0.2
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param set SIH_VEHICLE_TYPE 1 # sih as fixed wing
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param set RWTO_TKOFF 1 # enable takeoff from runway (as opposed to launched)
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# pusher propeller model with advance ratio, model from UIUC APC 8x6"
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param set SIH_F_T_MAX 6
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param set SIH_F_Q_MAX 0.03
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# if SIH_F_CT0 > 0, SIH_F_T_MAX and SIH_F_Q_MAX will be overridden
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param set SIH_F_CT0 0.131
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param set SIH_F_CT1 0.004
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param set SIH_F_CT2 -0.146
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param set SIH_F_CP0 0.0777
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param set SIH_F_CP1 0.0498
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param set SIH_F_CP2 -0.11
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param set SIH_F_DIA_INCH 8
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param set SIH_F_RPM_MAX 9000
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param set-default FW_AIRSPD_MIN 7
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param set-default FW_AIRSPD_TRIM 10
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param set-default FW_AIRSPD_MAX 12
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param set-default FW_PSP_OFF 0.5
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