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83 lines
2.1 KiB
83 lines
2.1 KiB
#!/bin/sh
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#
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# @name SIH Tailsitter Duo
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#
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# @type Simulation
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# @class VTOL
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#
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# @output Motor1 motor right
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# @output Motor2 motor left
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# @output Servo1 elevon right
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# @output Servo2 elevon left
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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.vtol_defaults
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param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
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param set UAVCAN_ENABLE 0
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param set-default VT_B_TRANS_DUR 5
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param set-default VT_ELEV_MC_LOCK 0
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param set-default VT_MOT_COUNT 2
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param set-default VT_TYPE 0
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param set-default VT_FW_DIFTHR_EN 1
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param set-default VT_FW_DIFTHR_S_Y 0.3
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param set-default MPC_MAN_Y_MAX 60
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param set-default MC_PITCH_P 5
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param set-default CA_AIRFRAME 4
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param set-default CA_ROTOR_COUNT 2
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param set-default CA_ROTOR0_KM -0.05
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param set-default CA_ROTOR0_PY 0.2
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param set-default CA_ROTOR1_KM -0.05
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param set-default CA_ROTOR1_PY -0.2
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param set-default CA_SV_CS_COUNT 2
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param set-default CA_SV_CS0_TRQ_P 0.3
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param set-default CA_SV_CS0_TRQ_Y 0.3
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param set-default CA_SV_CS0_TYPE 5
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param set-default CA_SV_CS1_TRQ_P 0.3
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param set-default CA_SV_CS1_TRQ_Y -0.3
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param set-default CA_SV_CS1_TYPE 6
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param set-default FW_AIRSPD_MAX 12
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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 HIL_ACT_FUNC1 101
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param set-default HIL_ACT_FUNC2 102
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param set-default HIL_ACT_FUNC5 202
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param set-default HIL_ACT_FUNC6 201
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param set-default HIL_ACT_REV 32
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param set-default MAV_TYPE 19
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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-default SENS_DPRES_OFF 0.001
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param set SIH_T_MAX 2.0
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param set SIH_Q_MAX 0.0165
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param set SIH_MASS 0.2
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# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
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param set SIH_IXX 0.00354
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param set SIH_IYY 0.000625
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param set SIH_IZZ 0.00300
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param set SIH_IXZ 0
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param set SIH_KDV 0.2
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param set SIH_L_ROLL 0.145
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# sih as tailsitter
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param set SIH_VEHICLE_TYPE 2
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param set-default VT_ARSP_TRANS 6
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