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cedf14e2ba
This new airspeed module does: -runns an airspeed validator for every airspeed sensor present, which checks measurement validity and estimates an airspeed scale -selects another airspeed sensor if for the current one a failure is detected -estimates airspeed with groundspeed-windspeed if no valid airspeed sensor is present -outputs airspeed_validated topic Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
44 lines
743 B
Bash
44 lines
743 B
Bash
#!/bin/sh
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#
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# @name Plane SITL
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#
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sh /etc/init.d/rc.fw_defaults
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if [ $AUTOCNF = yes ]
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then
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param set EKF2_ARSP_THR 8
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param set EKF2_FUSE_BETA 1
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param set EKF2_MAG_ACCLIM 0
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param set EKF2_MAG_YAWLIM 0
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param set FW_LND_AIRSPD_SC 1
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param set FW_LND_ANG 8
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param set FW_THR_LND_MAX 0
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param set FW_P_TC 0.5
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param set FW_PR_FF 0.40
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param set FW_PR_I 0.05
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param set FW_PR_P 0.05
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param set FW_R_TC 0.7
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param set FW_RR_FF 0.20
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param set FW_RR_I 0.02
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param set FW_RR_P 0.22
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param set FW_W_EN 1
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param set MIS_LTRMIN_ALT 30
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param set MIS_TAKEOFF_ALT 30
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param set NAV_ACC_RAD 15
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param set NAV_DLL_ACT 2
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param set NAV_LOITER_RAD 50
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param set RWTO_TKOFF 1
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fi
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set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
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set MIXER custom
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