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125 lines
3.5 KiB
125 lines
3.5 KiB
#!/bin/sh
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#
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# @name PX4Vision SITL
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# Holybro px4vision. Gazebo Only.
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#
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# @type Quadrotor
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#
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. ${R}etc/init.d/rc.mc_defaults
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PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
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PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=px4vision}
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param set-default SIM_GZ_EN 1
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# Commander Parameters
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param set-default COM_DISARM_LAND 0.5
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# EKF2 parameters
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param set-default EKF2_DRAG_CTRL 1
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param set-default EKF2_IMU_POS_X 0.02
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param set-default EKF2_GPS_POS_X 0.055
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param set-default EKF2_GPS_POS_Z -0.15
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param set-default EKF2_MIN_RNG 0.03
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param set-default EKF2_OF_CTRL 1
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param set-default EKF2_OF_POS_X 0.055
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param set-default EKF2_OF_POS_Y 0.02
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param set-default EKF2_OF_POS_Z 0.065
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param set-default EKF2_REQ_HDRIFT 0.3
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param set-default EKF2_REQ_SACC 1
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param set-default EKF2_REQ_VDRIFT 0.3
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param set-default EKF2_RNG_A_HMAX 8
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param set-default EKF2_RNG_A_VMAX 2
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param set-default EKF2_RNG_POS_X 0.055
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param set-default EKF2_RNG_POS_Y -0.01
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param set-default EKF2_RNG_POS_Z 0.065
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param set-default EKF2_PCOEF_XP -0.25
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param set-default EKF2_PCOEF_YN -0.55
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param set-default EKF2_PCOEF_YP -0.55
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# MAVLink parameters
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# param set-default MAV_0_CONFIG 101 Not found
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# param set-default MAV_1_CONFIG 102 Not found
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param set-default MAV_1_RATE 80000
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param set-default MAV_1_MODE 9
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# param set-default SER_TEL1_BAUD 921600 Not found
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# Vehicle attitude PID tuning
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param set-default MC_ACRO_P_MAX 200
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param set-default MC_ACRO_R_MAX 200
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param set-default MC_ACRO_Y_MAX 150
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param set-default MC_PITCHRATE_D 0.0015
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param set-default MC_ROLLRATE_D 0.0015
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param set-default MC_YAWRATE_P 0.3
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# Position Control Tuning
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param set-default CP_DIST 6
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param set-default MPC_ACC_DOWN_MAX 5
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param set-default MPC_ACC_HOR_MAX 10
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param set-default MPC_MANTHR_MIN 0
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param set-default MPC_MAN_Y_MAX 120
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param set-default MPC_THR_HOVER 0.3
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param set-default MPC_VEL_MANUAL 5
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param set-default MPC_XY_VEL_MAX 5
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param set-default MPC_XY_VEL_P_ACC 1.58
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param set-default MPC_XY_TRAJ_P 0.3
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# param set-default MPC_Z_TRAJ_P 0.3 Not found
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param set-default MPC_Z_VEL_P_ACC 5
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param set-default MPC_Z_VEL_I_ACC 3
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param set-default MPC_LAND_ALT1 3
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param set-default MPC_LAND_ALT2 1
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param set-default CP_GO_NO_DATA 1
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# Navigator Parameters
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param set-default NAV_ACC_RAD 2
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# RTL Parameters
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param set-default RTL_DESCEND_ALT 5
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param set-default RTL_RETURN_ALT 5
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# Logging Parameters
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param set-default SDLOG_PROFILE 131
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# Sensors Parameters
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# param set-default SENS_CM8JL65_CFG 202 Not found
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param set-default SENS_FLOW_MAXHGT 25
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param set-default SENS_FLOW_MINHGT 0.5
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param set-default IMU_GYRO_CUTOFF 100
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# param set-default SENS_TFLOW_CFG 103 Not found
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# Power Parameters
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param set-default BAT1_N_CELLS 4
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param set-default THR_MDL_FAC 0.3
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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 SIM_GZ_EC_FUNC1 101
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param set-default SIM_GZ_EC_FUNC2 102
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param set-default SIM_GZ_EC_FUNC3 103
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param set-default SIM_GZ_EC_FUNC4 104
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param set-default SIM_GZ_EC_MIN1 150
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param set-default SIM_GZ_EC_MIN2 150
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param set-default SIM_GZ_EC_MIN3 150
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param set-default SIM_GZ_EC_MIN4 150
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param set-default SIM_GZ_EC_MAX1 1100
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param set-default SIM_GZ_EC_MAX2 1100
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param set-default SIM_GZ_EC_MAX3 1100
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param set-default SIM_GZ_EC_MAX4 1100
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param set-default NAV_DLL_ACT 2
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