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61 lines
1.2 KiB
61 lines
1.2 KiB
#!/bin/sh |
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# |
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# Fixed wing default parameters |
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# |
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# NOTE: Script variables are declared/initialized/unset in the rcS script. |
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# |
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set VEHICLE_TYPE fw |
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if [ $AUTOCNF = yes ] |
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then |
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# |
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# Default parameters for fixed wing UAVs. |
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# |
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param set COM_POS_FS_DELAY 5 |
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param set COM_POS_FS_EPH 15 |
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param set COM_POS_FS_EPV 30 |
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param set COM_POS_FS_GAIN 0 |
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param set COM_POS_FS_PROB 1 |
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param set COM_VEL_FS_EVH 5 |
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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_GPS_CHECK 21 |
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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 EKF2_REQ_EPH 10 |
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param set EKF2_REQ_EPV 10 |
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param set EKF2_REQ_HDRIFT 0.5 |
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param set EKF2_REQ_SACC 1 |
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param set EKF2_REQ_VDRIFT 1.0 |
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param set RTL_TYPE 1 |
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param set RTL_RETURN_ALT 100 |
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param set RTL_DESCEND_ALT 100 |
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param set RTL_LAND_DELAY -1 |
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# |
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# FW uses L1 distance for acceptance radius. |
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# Set a smaller NAV_ACC_RAD for vertical acceptance distance. |
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# |
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param set NAV_ACC_RAD 10 |
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param set MIS_LTRMIN_ALT 25 |
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param set MIS_TAKEOFF_ALT 25 |
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param set PWM_RATE 50 |
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# |
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# FW takeoff acceleration can easily exceed ublox GPS 2G default. |
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# |
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param set GPS_UBX_DYNMODEL 8 |
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fi |
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# |
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# This is the gimbal pass mixer. |
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# |
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set MIXER_AUX pass |
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set PWM_AUX_RATE 50 |
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set PWM_AUX_OUT 1234
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