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Add standard_vtol drop

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This commit is contained in:
Jaeyoung-Lim
2021-03-06 13:30:48 +01:00
committed by Lorenz Meier
parent d2b63f137e
commit 0db29866f1
3 changed files with 60 additions and 0 deletions
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58
ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop Normal file
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@@ -0,0 +1,58 @@
#!/bin/sh
#
# @name Standard VTOL
#
# @type Standard VTOL
#
. ${R}etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set FW_L1_PERIOD 12
param set FW_MAN_P_MAX 30
param set FW_PR_FF 0.2
param set FW_PR_I 0.4
param set FW_PR_P 0.9
param set FW_PSP_OFF 2
param set FW_P_LIM_MAX 32
param set FW_P_LIM_MIN -15
param set FW_RR_FF 0.1
param set FW_RR_P 0.3
param set FW_THR_CRUISE 0.25
param set FW_THR_MAX 0.6
param set FW_THR_MIN 0.05
param set FW_T_ALT_TC 2
param set FW_T_CLMB_MAX 8
param set FW_T_HRATE_FF 0.5
param set FW_T_SINK_MAX 2.7
param set FW_T_SINK_MIN 2.2
param set FW_T_TAS_TC 2
param set MC_ROLLRATE_P 0.3
param set MC_YAW_P 1.6
param set MIS_TAKEOFF_ALT 10
param set MPC_ACC_HOR_MAX 2
param set MPC_XY_P 0.8
param set MPC_XY_VEL_P_ACC 3
param set MPC_XY_VEL_I_ACC 4
param set MPC_XY_VEL_D_ACC 0.1
param set NAV_ACC_RAD 5
param set NAV_LOITER_RAD 80
param set VT_FWD_THRUST_EN 4
param set VT_F_TRANS_THR 0.75
param set VT_MOT_ID 1234
param set VT_FW_MOT_OFFID 1234
param set VT_B_TRANS_DUR 8
param set VT_TYPE 2
fi
set MAV_TYPE 22
set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
set MIXER custom

1
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
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@@ -64,6 +64,7 @@ px4_add_romfs_files(
1040_standard_vtol
1041_tailsitter
1042_tiltrotor
1043_standard_vtol_drop
1060_rover
1061_r1_rover
1062_tf-r1