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59 lines
1.2 KiB
59 lines
1.2 KiB
5 years ago
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#!/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 1.1
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param set FW_LND_ANG 5
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param set FW_THR_LND_MAX 0
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param set FW_LND_HHDIST 30
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param set FW_LND_FL_PMIN 9.5
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param set FW_LND_FL_PMAX 20
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param set FW_LND_FLALT 5
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param set FW_LND_TLALT 15
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param set FW_L1_PERIOD 25
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param set FW_P_TC 0.4
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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 0.45
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param set FW_RR_FF 0.40
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param set FW_RR_I 0.132
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param set FW_RR_P 0.085
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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 20
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param set MIS_DIST_1WP 2500
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param set MIS_DIST_WPS 10000
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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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#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
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param set RWTO_MAX_PITCH 20
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param set RWTO_MAX_ROLL 10
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#param set RWTO_MAX_THR 0.6 # fix takeoff failure for JSBsim in autonomous mission mode.
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param set RWTO_PSP 8
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param set RWTO_AIRSPD_SCL 1.8
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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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