1002_standard_vtol.hil
1.92 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
#!/bin/sh
#
# @name HIL Standard VTOL QuadPlane
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Roman Bapst <roman@auterion.com>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default BAT_N_CELLS 3
param set-default COM_RC_IN_MODE 1
param set-default EKF2_AID_MASK 1
param set-default EKF2_ANGERR_INIT 0.01
param set-default EKF2_GBIAS_INIT 0.01
param set-default EKF2_HGT_MODE 0
param set-default EKF2_MAG_TYPE 1
param set-default FW_AIRSPD_MAX 25
param set-default FW_AIRSPD_MIN 14
param set-default FW_AIRSPD_TRIM 16
param set-default MC_PITCH_P 6
param set-default MC_PITCHRATE_P 0.2
param set-default MC_ROLL_P 6
param set-default MC_ROLLRATE_P 0.3
param set-default MIS_LTRMIN_ALT 10
param set-default MIS_TAKEOFF_ALT 10
param set-default MIS_YAW_TMT 10
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_THR_MIN 0.1
param set-default MPC_TKO_SPEED 1
param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_D_ACC 0.1
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_Z_VEL_P_ACC 12
param set-default MPC_Z_VEL_I_ACC 3
param set-default MPC_Z_VEL_MAX_DN 1.5
param set-default NAV_ACC_RAD 5
param set-default NAV_DLL_ACT 2
param set-default NAV_LOITER_RAD 80
param set-default RTL_DESCEND_ALT 10
param set-default RTL_RETURN_ALT 30
param set-default SDLOG_DIRS_MAX 7
param set-default SYS_RESTART_TYPE 2
param set-default VT_F_TRANS_THR 0.75
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
param set-default VT_TYPE 2
param set SYS_HITL 1
# disable some checks to allow to fly
# - with usb
param set-default CBRK_USB_CHK 197848
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
# - without safety switch
param set-default COM_PREARM_MODE 0
param set-default CBRK_IO_SAFETY 22027
set MAV_TYPE 22
set MIXER standard_vtol_hitl
set PWM_OUT 1234