quadrotor_x.xml
1.99 KB
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<model name="quadrotor_x">
<mavlink_interface>
<tcp_port>4560</tcp_port>
</mavlink_interface>
<sensors>
<imu>
<jsb_acc_x>px4/acc-x</jsb_acc_x>
<jsb_acc_y>px4/acc-y</jsb_acc_y>
<jsb_acc_z>px4/acc-z</jsb_acc_z>
<jsb_gyro_x>px4/gyro-x</jsb_gyro_x>
<jsb_gyro_y>px4/gyro-y</jsb_gyro_y>
<jsb_gyro_z>px4/gyro-z</jsb_gyro_z>
</imu>
<gps>
<jsb_gps_fix_type>px4/gps-fix-type</jsb_gps_fix_type>
<jsb_gps_lat>px4/gps-lat</jsb_gps_lat>
<jsb_gps_lon>px4/gps-lon</jsb_gps_lon>
<jsb_gps_alt>px4/gps-alt</jsb_gps_alt>
<jsb_gps_eph>px4/gps-eph</jsb_gps_eph>
<jsb_gps_epv>px4/gps-epv</jsb_gps_epv>
<jsb_gps_v_north>px4/gps-v-north</jsb_gps_v_north>
<jsb_gps_v_east>px4/gps-v-east</jsb_gps_v_east>
<jsb_gps_v_down>px4/gps-v-down</jsb_gps_v_down>
<jsb_gps_velocity>px4/gps-velocity</jsb_gps_velocity>
<jsb_gps_satellites>px4/gps-satellites-visible</jsb_gps_satellites>
</gps>
<barometer>
<jsb_baro_temp>px4/baro-temp</jsb_baro_temp>
<jsb_baro_air_pressure>px4/baro-abs-pressure</jsb_baro_air_pressure>
</barometer>
<magnetometer>
</magnetometer>
</sensors>
<actuators>
<channel name="rotor0">
<index>0</index>
<scale>1</scale>
<property>fcs/esc-cmd-norm[0]</property>
</channel>
<channel name="rotor1">
<index>1</index>
<scale>1</scale>
<property>fcs/esc-cmd-norm[1]</property>
</channel>
<channel name="rotor2">
<index>2</index>
<scale>1</scale>
<property>fcs/esc-cmd-norm[2]</property>
</channel>
<channel name="rotor3">
<index>3</index>
<scale>1</scale>
<property>fcs/esc-cmd-norm[3]</property>
</channel>
</actuators>
</model>