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.
92 lines
2.5 KiB
92 lines
2.5 KiB
#!/bin/sh
|
|
#
|
|
# @name SIH Standard VTOL QuadPlane
|
|
#
|
|
# @type Simulation
|
|
# @class VTOL
|
|
#
|
|
# @output Motor1 MC motor front right
|
|
# @output Motor2 MC motor back left
|
|
# @output Motor3 MC motor front left
|
|
# @output Motor4 MC motor back right
|
|
# @output Motor5 Forward thrust motor
|
|
# @output Servo1 Ailerons (single channel)
|
|
# @output Servo2 Elevator
|
|
# @output Servo3 Rudder
|
|
#
|
|
# @board px4_fmu-v2 exclude
|
|
#
|
|
|
|
. ${R}etc/init.d/rc.vtol_defaults
|
|
|
|
param set UAVCAN_ENABLE 0
|
|
|
|
param set-default VT_TYPE 2
|
|
param set-default MPC_MAN_Y_MAX 60
|
|
param set-default MC_PITCH_P 5
|
|
|
|
param set-default CA_AIRFRAME 2
|
|
param set-default CA_ROTOR_COUNT 5
|
|
param set-default CA_ROTOR0_KM 0.05
|
|
param set-default CA_ROTOR0_PX 0.2
|
|
param set-default CA_ROTOR0_PY 0.2
|
|
param set-default CA_ROTOR1_KM 0.05
|
|
param set-default CA_ROTOR1_PX -0.2
|
|
param set-default CA_ROTOR1_PY -0.2
|
|
param set-default CA_ROTOR2_PX 0.2
|
|
param set-default CA_ROTOR2_PY -0.2
|
|
param set-default CA_ROTOR2_KM -0.05
|
|
param set-default CA_ROTOR3_PX -0.2
|
|
param set-default CA_ROTOR3_PY 0.2
|
|
param set-default CA_ROTOR3_KM -0.05
|
|
param set-default CA_ROTOR4_PX -0.3
|
|
param set-default CA_ROTOR4_KM 0.05
|
|
param set-default CA_ROTOR4_AX 1
|
|
param set-default CA_ROTOR4_AZ 0
|
|
|
|
# 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 FW_AIRSPD_MIN 7
|
|
param set-default FW_AIRSPD_TRIM 10
|
|
param set-default FW_AIRSPD_MAX 12
|
|
|
|
param set-default HIL_ACT_FUNC1 101
|
|
param set-default HIL_ACT_FUNC2 102
|
|
param set-default HIL_ACT_FUNC3 103
|
|
param set-default HIL_ACT_FUNC4 104
|
|
param set-default HIL_ACT_FUNC5 201
|
|
param set-default HIL_ACT_FUNC6 202
|
|
param set-default HIL_ACT_FUNC7 203
|
|
param set-default HIL_ACT_FUNC8 105
|
|
|
|
param set-default MAV_TYPE 22
|
|
|
|
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
|
|
param set-default SYS_HITL 2
|
|
|
|
# disable some checks to allow to fly:
|
|
# - without real battery
|
|
param set-default CBRK_SUPPLY_CHK 894281
|
|
|
|
param set-default SENS_DPRES_OFF 0.001
|
|
|
|
param set SIH_T_MAX 2.0
|
|
param set SIH_Q_MAX 0.0165
|
|
param set SIH_MASS 0.2
|
|
# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
|
|
param set SIH_IXX 0.00354
|
|
param set SIH_IYY 0.000625
|
|
param set SIH_IZZ 0.00300
|
|
param set SIH_IXZ 0
|
|
param set SIH_KDV 0.2
|
|
param set SIH_L_ROLL 0.2
|
|
|
|
# sih as standard vtol
|
|
param set SIH_VEHICLE_TYPE 3
|
|
|