|
|
|
|
#!/bin/sh
|
|
|
|
|
#
|
|
|
|
|
# @name Plane SITL
|
|
|
|
|
#
|
|
|
|
|
|
|
|
|
|
sh /etc/init.d/rc.fw_defaults
|
|
|
|
|
|
|
|
|
|
if [ $AUTOCNF = yes ]
|
|
|
|
|
then
|
|
|
|
|
param set EKF2_ARSP_THR 8
|
|
|
|
|
param set EKF2_FUSE_BETA 1
|
|
|
|
|
param set EKF2_MAG_ACCLIM 0
|
|
|
|
|
param set EKF2_MAG_YAWLIM 0
|
|
|
|
|
|
|
|
|
|
param set FW_LND_AIRSPD_SC 1
|
|
|
|
|
param set FW_LND_ANG 8
|
|
|
|
|
param set FW_THR_LND_MAX 0
|
|
|
|
|
|
|
|
|
|
param set FW_P_TC 0.5
|
|
|
|
|
param set FW_PR_FF 0.40
|
|
|
|
|
param set FW_PR_I 0.05
|
|
|
|
|
param set FW_PR_P 0.05
|
|
|
|
|
|
|
|
|
|
param set FW_R_TC 0.7
|
|
|
|
|
param set FW_RR_FF 0.20
|
|
|
|
|
param set FW_RR_I 0.02
|
|
|
|
|
param set FW_RR_P 0.22
|
|
|
|
|
|
|
|
|
|
param set FW_W_EN 1
|
|
|
|
|
|
|
|
|
|
param set MIS_LTRMIN_ALT 30
|
|
|
|
|
param set MIS_TAKEOFF_ALT 30
|
|
|
|
|
|
|
|
|
|
param set NAV_ACC_RAD 15
|
|
|
|
|
param set NAV_DLL_ACT 2
|
|
|
|
|
param set NAV_LOITER_RAD 50
|
|
|
|
|
|
|
|
|
|
param set RWTO_TKOFF 1
|
|
|
|
|
|
|
|
|
|
fi
|
|
|
|
|
|
|
|
|
|
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
|
|
|
|
|
set MIXER custom
|
