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109 lines
2.8 KiB
109 lines
2.8 KiB
#!/bin/sh
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#
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# @name HIL Standard VTOL QuadPlane
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#
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# @type Standard VTOL
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# @class VTOL
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#
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# @output Motor1 MC motor front right
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# @output Motor2 MC motor back left
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# @output Motor3 MC motor front left
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# @output Motor4 MC motor back right
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# @output Motor5 Forward thrust motor
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# @output Servo1 Aileron
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# @output Servo2 Elevator
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# @output Servo3 Rudder
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#
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# @maintainer Roman Bapst <roman@auterion.com>
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#
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# @board px4_fmu-v2 exclude
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# @board bitcraze_crazyflie exclude
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# @board holybro_kakutef7 exclude
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#
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. ${R}etc/init.d/rc.vtol_defaults
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param set-default BAT1_N_CELLS 3
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param set-default COM_RC_IN_MODE 1
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param set-default EKF2_ANGERR_INIT 0.01
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param set-default EKF2_GBIAS_INIT 0.01
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param set-default EKF2_MAG_TYPE 1
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param set-default FW_AIRSPD_MAX 25
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param set-default FW_AIRSPD_MIN 14
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param set-default FW_AIRSPD_TRIM 16
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param set-default MC_PITCH_P 6
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param set-default MC_PITCHRATE_P 0.2
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param set-default MC_ROLL_P 6
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param set-default MC_ROLLRATE_P 0.3
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param set-default MIS_TAKEOFF_ALT 10
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param set-default MIS_YAW_TMT 10
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param set-default MPC_THR_MIN 0.1
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param set-default MPC_XY_P 0.8
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param set-default MPC_XY_VEL_D_ACC 0.1
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param set-default MPC_XY_VEL_I_ACC 4
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param set-default MPC_XY_VEL_P_ACC 3
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param set-default MPC_Z_VEL_P_ACC 12
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param set-default MPC_Z_VEL_I_ACC 3
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param set-default NAV_ACC_RAD 5
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param set-default NAV_DLL_ACT 2
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param set-default RTL_DESCEND_ALT 10
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param set-default RTL_RETURN_ALT 30
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param set-default SDLOG_DIRS_MAX 7
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param set-default VT_F_TRANS_THR 0.75
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param set-default VT_TYPE 2
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param set-default CA_AIRFRAME 2
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param set-default CA_ROTOR_COUNT 5
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param set-default CA_ROTOR4_AX 1
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param set-default CA_ROTOR4_AZ 0
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param set-default CA_ROTOR4_PX 0.2
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# Square quadrotor X PX4 numbering
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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 1
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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_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 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_R 0.5
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param set-default CA_SV_CS1_TYPE 2
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param set-default CA_SV_CS2_TRQ_P 1
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param set-default CA_SV_CS2_TYPE 3
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param set-default HIL_ACT_FUNC1 101
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param set-default HIL_ACT_FUNC2 102
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param set-default HIL_ACT_FUNC3 103
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param set-default HIL_ACT_FUNC4 104
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param set-default HIL_ACT_FUNC5 105
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param set-default HIL_ACT_FUNC6 201
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param set-default HIL_ACT_FUNC7 202
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param set-default HIL_ACT_FUNC8 203
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param set SYS_HITL 1
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param set UAVCAN_ENABLE 0
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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-default MAV_TYPE 22
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