Update

tiiuae · Aug 27, 2024 · 7da7a26 · 7da7a26
1 parent a4c5b2b
commit 7da7a26
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Showing 3 changed files with 15 additions and 3 deletions.
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4404_gz_ssrc_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/4404_gz_ssrc_standard_vtol
@@ -13,6 +13,7 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=ssrc_standard_vtol}
 
 param set-default SIM_GZ_EN 1
 param set-default SIM_GZ_SHOME 1
+echo "run gz is $PX4_RUN_GZSIM"
 if [ "$PX4_RUN_GZSIM" = "0" ]; then
   param set-default SIM_GZ_RUN_GZSIM 0
 else
@@ -82,7 +83,6 @@ param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS2_TYPE 3
 param set-default CA_SV_CS2_TRQ_P 1.0
 
-param set-default FW_L1_PERIOD 12
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4430_gz_ssrc_strivermini b/ROMFS/px4fmu_common/init.d-posix/airframes/4430_gz_ssrc_strivermini
@@ -24,7 +24,12 @@ PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=strivermini}
 
 param set-default SIM_GZ_EN 1
-param set-default SIM_GZ_RUN_GZSIM 0
+param set-default SIM_GZ_SHOME 1
+if [ "$PX4_RUN_GZSIM" = "0" ]; then
+  param set-default SIM_GZ_RUN_GZSIM 0
+else
+  param set-default SIM_GZ_RUN_GZSIM 1
+fi
 
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 1

diff --git a/ssrc_config/config_hitl_eth_gzsim_vtol.txt b/ssrc_config/config_hitl_eth_gzsim_vtol.txt
@@ -91,6 +91,13 @@ param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS2_TYPE 3
 param set-default CA_SV_CS2_TRQ_P 1.0
 
+# Airspeed parameters
+param set-default ASPD_PRIMARY 1
+param set-default FW_AIRSPD_MAX 22.0
+param set-default FW_AIRSPD_MIN 14.0
+param set-default FW_AIRSPD_STALL 12.0
+param set-default FW_AIRSPD_TRIM 18.0
+
 param set-default FW_L1_PERIOD 12
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
@@ -119,6 +126,6 @@ param set-default MPC_XY_VEL_D_ACC 0.1
 param set-default NAV_ACC_RAD 5.0
 
 param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.75
+param set-default VT_F_TRANS_THR 1.0
 param set-default VT_TYPE 2
 param set-default FD_ESCS_EN 0