You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
67 lines
1.9 KiB
67 lines
1.9 KiB
#!/bin/sh
|
|
#
|
|
# @name Plane SITL for SIH
|
|
#
|
|
# @type Plane
|
|
#
|
|
# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
|
|
|
|
. ${R}etc/init.d/rc.fw_defaults
|
|
|
|
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
|
|
PX4_SIM_MODEL=${PX4_SIM_MODEL:=airplane}
|
|
|
|
param set-default SENS_EN_GPSSIM 1
|
|
param set-default SENS_EN_BAROSIM 1
|
|
param set-default SENS_EN_MAGSIM 1
|
|
param set-default SENS_EN_ARSPDSIM 1
|
|
|
|
param set-default SIH_T_MAX 6
|
|
param set-default SIH_MASS 0.3
|
|
param set-default SIH_IXX 0.00402
|
|
param set-default SIH_IYY 0.0144
|
|
param set-default SIH_IZZ 0.0177
|
|
param set-default SIH_IXZ 0.00046
|
|
param set-default SIH_KDV 0.2
|
|
|
|
param set-default SIH_VEHICLE_TYPE 1 # sih as fixed wing
|
|
param set-default RWTO_TKOFF 1 # enable takeoff from runway (as opposed to launched)
|
|
|
|
param set-default CA_AIRFRAME 1
|
|
param set-default CA_ROTOR_COUNT 1
|
|
param set-default CA_ROTOR0_PX 0.3
|
|
|
|
# SIH for now hardcodes this configuration which we need to match in the airframe files.
|
|
param set-default CA_SV_CS_COUNT 3
|
|
param set-default CA_SV_CS0_TRQ_R 1
|
|
param set-default CA_SV_CS0_TYPE 15 # single channel aileron
|
|
param set-default CA_SV_CS1_TRQ_P 1
|
|
param set-default CA_SV_CS1_TYPE 3 # elevator
|
|
param set-default CA_SV_CS2_TRQ_Y 1
|
|
param set-default CA_SV_CS2_TYPE 4 # rudder
|
|
|
|
param set-default PWM_MAIN_FUNC1 201
|
|
param set-default PWM_MAIN_FUNC2 202
|
|
param set-default PWM_MAIN_FUNC3 203
|
|
param set-default PWM_MAIN_FUNC4 101
|
|
|
|
param set-default EKF2_GPS_DELAY 0
|
|
|
|
# Rate controllers
|
|
param set-default FW_RR_P 0.0500
|
|
param set-default FW_RR_I 2.0000
|
|
param set-default FW_RR_D 0.0000
|
|
param set-default FW_RR_FF 0.0000
|
|
param set-default FW_RR_IMAX 1.0000
|
|
|
|
param set-default FW_PR_P 0.0800
|
|
param set-default FW_PR_I 2.5000
|
|
param set-default FW_PR_D 0.0000
|
|
param set-default FW_PR_FF 0.0000
|
|
param set-default FW_PR_IMAX 1.0000
|
|
|
|
param set-default FW_YR_P 0.0500
|
|
param set-default FW_YR_I 3.0000
|
|
param set-default FW_YR_D 0.0000
|
|
param set-default FW_YR_FF 0.0000
|
|
param set-default FW_YR_IMAX 1.0000
|
|
|