-
Notifications
You must be signed in to change notification settings - Fork 13.4k
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
1 parent
47e802e
commit fc0835b
Showing
4 changed files
with
74 additions
and
1 deletion.
There are no files selected for viewing
71 changes: 71 additions & 0 deletions
71
ROMFS/px4fmu_common/init.d-posix/airframes/1045_gazebo-classic_quadtailsitter
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,71 @@ | ||
#!/bin/sh | ||
# | ||
# @name Quadrotor + Tailsitter | ||
# | ||
# @type VTOL Quad Tailsitter | ||
# | ||
|
||
. ${R}etc/init.d/rc.vtol_defaults | ||
|
||
param set-default MAV_TYPE 20 | ||
|
||
param set-default CA_AIRFRAME 4 | ||
|
||
param set-default CA_ROTOR_COUNT 4 | ||
param set-default CA_ROTOR0_PX 0.15 | ||
param set-default CA_ROTOR0_PY 0.23 | ||
param set-default CA_ROTOR0_KM 0.05 | ||
param set-default CA_ROTOR1_PX -0.15 | ||
param set-default CA_ROTOR1_PY -0.23 | ||
param set-default CA_ROTOR1_KM 0.05 | ||
param set-default CA_ROTOR2_PX 0.15 | ||
param set-default CA_ROTOR2_PY -0.23 | ||
param set-default CA_ROTOR2_KM -0.05 | ||
param set-default CA_ROTOR3_PX -0.15 | ||
param set-default CA_ROTOR3_PY 0.23 | ||
param set-default CA_ROTOR3_KM -0.05 | ||
|
||
param set-default CA_SV_CS_COUNT 0 | ||
|
||
param set-default PWM_MAIN_FUNC1 101 | ||
param set-default PWM_MAIN_FUNC2 102 | ||
param set-default PWM_MAIN_FUNC3 103 | ||
param set-default PWM_MAIN_FUNC4 104 | ||
param set-default PWM_MAIN_FUNC5 0 | ||
|
||
param set-default FW_PR_I 0.2 | ||
param set-default FW_PR_P 0.2 | ||
param set-default FW_PSP_OFF 2 | ||
param set-default FW_P_LIM_MIN -15 | ||
param set-default FW_RR_P 0.2 | ||
param set-default FW_THR_TRIM 0.33 | ||
param set-default FW_THR_MAX 0.6 | ||
param set-default FW_THR_MIN 0.05 | ||
param set-default FW_T_ALT_TC 2 | ||
param set-default FW_T_CLMB_MAX 8 | ||
param set-default FW_T_HRATE_FF 0.5 | ||
param set-default FW_T_SINK_MAX 2.7 | ||
param set-default FW_T_SINK_MIN 2.2 | ||
param set-default FW_T_TAS_TC 2 | ||
|
||
param set-default MC_AIRMODE 1 | ||
param set-default MC_PITCH_P 5 | ||
param set-default MC_ROLLRATE_P 0.3 | ||
|
||
param set-default MPC_ACC_HOR_MAX 2 | ||
param set-default MPC_XY_P 0.8 | ||
param set-default MPC_XY_VEL_P_ACC 3 | ||
param set-default MPC_XY_VEL_I_ACC 4 | ||
param set-default MPC_XY_VEL_D_ACC 0.1 | ||
|
||
param set-default NAV_ACC_RAD 5 | ||
|
||
param set-default VT_FW_DIFTHR_EN 7 | ||
param set-default VT_FW_DIFTHR_S_R 0.5 | ||
param set-default VT_FW_DIFTHR_S_P 0.5 | ||
param set-default VT_FW_DIFTHR_S_Y 0.5 | ||
param set-default VT_F_TRANS_DUR 1.5 | ||
param set-default VT_F_TRANS_THR 0.7 | ||
param set-default VT_TYPE 0 | ||
|
||
param set-default WV_EN 0 |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Submodule sitl_gazebo-classic
updated
4 files
+1 −0 | .gitignore | |
+56 −0 | models/quadtailsitter/meshes/body.dae | |
+16 −0 | models/quadtailsitter/model.config | |
+596 −0 | models/quadtailsitter/quadtailsitter.sdf.jinja |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
|
@@ -91,6 +91,7 @@ if(gazebo_FOUND) | |
plane_catapult | ||
plane_lidar | ||
px4vision | ||
quadtailsitter | ||
r1_rover | ||
rover | ||
standard_vtol | ||
|