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| Original file line number | Diff line number | Diff line change |
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@@ -38,7 +38,7 @@ else | |
| fi | ||
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| # Remove old build output | ||
| rm -Rf build/${arg} | ||
| #rm -Rf build/${arg} | ||
| # Build | ||
| make ${arg} | ||
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,119 @@ | ||
| # Default parameter set for HITL with ethernet Gazebo Sim connection on FW | ||
| # [ type: hitl_eth_gzsim ] | ||
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| #################################### | ||
| # general HITL configuration | ||
| #################################### | ||
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| # Set HITL related flag | ||
| param set SYS_HITL 1 | ||
| param set MAV_HITL_SHOME 1 | ||
| param set SENS_EN_GPSSIM 1 | ||
| param set SENS_EN_BAROSIM 1 | ||
| param set SENS_EN_MAGSIM 1 | ||
| param set SENS_EN_ARSPDSIM 1 | ||
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| # Disable safety switch | ||
| param set COM_PREARM_MODE 0 | ||
| param set CBRK_IO_SAFETY 22027 | ||
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| # Disable RC loss failsafe check | ||
| param set NAV_RCL_ACT 0 | ||
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| # Disable RC input requirement | ||
| param set COM_RC_IN_MODE 1 | ||
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| # EKF2 | ||
| param set EKF2_MULTI_IMU 3 | ||
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| # Sensor | ||
| param set CAL_ACC0_ID 1310988 | ||
| param set CAL_GYRO0_ID 1310988 | ||
| param set CAL_ACC1_ID 1310996 | ||
| param set CAL_GYRO1_ID 1310996 | ||
| param set CAL_ACC2_ID 1311004 | ||
| param set CAL_GYRO2_ID 1311004 | ||
| param set CAL_MAG1_ID 197388 | ||
| param set CAL_MAG1_PRIO 50 | ||
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| #################################### | ||
| # specific fw HITL configuration | ||
| #################################### | ||
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| # Override airframe defaults | ||
| param set-default ASPD_DO_CHECKS 7 | ||
| param set-default FW_LAUN_DETCN_ON 0 | ||
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| # HITL PWM functions | ||
| param set-default HIL_ACT_FUNC1 201 | ||
| param set-default HIL_ACT_DIS1 500 | ||
| param set-default HIL_ACT_FUNC2 202 | ||
| param set-default HIL_ACT_DIS2 500 | ||
| param set-default HIL_ACT_FUNC4 101 | ||
| param set-default HIL_ACT_MIN4 150 | ||
| param set-default HIL_ACT_MAX4 1000 | ||
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| # Control allocator parameters | ||
| param set-default CA_AIRFRAME 1 | ||
| param set-default CA_ROTOR_COUNT 1 | ||
| param set-default CA_SV_CS_COUNT 2 | ||
| param set-default CA_SV_CS0_TYPE 5 | ||
| param set-default CA_SV_CS0_TRQ_P 0.5 | ||
| param set-default CA_SV_CS0_TRQ_R -0.5 | ||
| param set-default CA_SV_CS1_TYPE 6 | ||
| param set-default CA_SV_CS1_TRQ_P 0.5 | ||
| param set-default CA_SV_CS1_TRQ_R 0.5 | ||
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| # 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 | ||
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| # Maximum landing slope angle in deg | ||
| param set-default FW_LND_ANG 8.0 | ||
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| # RC loss failsafe to HOLD mode | ||
| param set-default COM_RC_IN_MODE 1 | ||
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| # Maximum manual roll angle | ||
| param set-default FW_MAN_R_MAX 60.0 | ||
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| # Fixed wing control | ||
| # Pitch rate | ||
| param set-default FW_PR_P 0.9 | ||
| param set-default FW_PR_FF 0.5 | ||
| param set-default FW_PR_I 0.5 | ||
| param set-default TRIM_PITCH -0.15 | ||
| # Pitch angle in deg | ||
| param set-default FW_PSP_OFF 0.0 | ||
| param set-default FW_P_LIM_MIN -15.0 | ||
| # Roll rate | ||
| param set-default FW_RR_FF 0.5 | ||
| param set-default FW_RR_P 0.3 | ||
| param set-default FW_RR_I 0.5 | ||
| # Yaw rate | ||
| param set-default FW_YR_FF 0.5 | ||
| param set-default FW_YR_P 0.6 | ||
| param set-default FW_YR_I 0.5 | ||
| #Throttle limit | ||
| param set-default FW_THR_MAX 0.6 | ||
| param set-default FW_THR_MIN 0.05 | ||
| param set-default FW_THR_TRIM 0.25 | ||
| # Climb and sink rate | ||
| param set-default FW_T_CLMB_MAX 8.0 | ||
| param set-default FW_T_SINK_MAX 2.7 | ||
| param set-default FW_T_SINK_MIN 2.2 | ||
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| # Navigation | ||
| param set-default NAV_ACC_RAD 15.0 | ||
| param set-default NAV_DLL_ACT 2 | ||
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| # Misc | ||
| param set-default RTL_RETURN_ALT 30.0 | ||
| param set-default RTL_DESCEND_ALT 30.0 | ||
| param set-default FW_LND_USETER 0 | ||
| param set-default RWTO_TKOFF 1 | ||
| param set-default FD_ESCS_EN 0 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,80 @@ | ||
| # Default parameter set for HITL with ethernet Gazebo Sim connection on MC | ||
| # [ type: hitl_eth_gzsim ] | ||
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| #################################### | ||
| # general HITL configuration | ||
| #################################### | ||
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| # Set HITL related flag | ||
| param set SYS_HITL 1 | ||
| param set MAV_HITL_SHOME 1 | ||
| param set SENS_EN_GPSSIM 1 | ||
| param set SENS_EN_BAROSIM 1 | ||
| param set SENS_EN_MAGSIM 1 | ||
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| # Disable safety switch | ||
| param set COM_PREARM_MODE 0 | ||
| param set CBRK_IO_SAFETY 22027 | ||
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| # Disable RC loss failsafe check | ||
| param set NAV_RCL_ACT 0 | ||
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| # Disable RC input requirement | ||
| param set COM_RC_IN_MODE 1 | ||
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| # EKF2 | ||
| param set EKF2_MULTI_IMU 3 | ||
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| # Sensor | ||
| param set CAL_ACC0_ID 1310988 | ||
| param set CAL_GYRO0_ID 1310988 | ||
| param set CAL_ACC1_ID 1310996 | ||
| param set CAL_GYRO1_ID 1310996 | ||
| param set CAL_ACC2_ID 1311004 | ||
| param set CAL_GYRO2_ID 1311004 | ||
| param set CAL_MAG1_ID 197388 | ||
| param set CAL_MAG1_PRIO 50 | ||
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| #################################### | ||
| # specific mc HITL configuration | ||
| #################################### | ||
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| # HITL PWM functions | ||
| param set-default HIL_ACT_FUNC1 101 | ||
| param set-default HIL_ACT_FUNC2 102 | ||
| param set-default HIL_ACT_FUNC3 103 | ||
| param set-default HIL_ACT_FUNC4 104 | ||
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| param set-default CA_ROTOR0_PX 0.175 | ||
| param set-default CA_ROTOR0_PY 0.175 | ||
| param set-default CA_ROTOR0_KM 0.05 | ||
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| param set-default CA_ROTOR1_PX -0.175 | ||
| param set-default CA_ROTOR1_PY -0.175 | ||
| param set-default CA_ROTOR1_KM 0.05 | ||
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| param set-default CA_ROTOR2_PX 0.175 | ||
| param set-default CA_ROTOR2_PY -0.175 | ||
| param set-default CA_ROTOR2_KM -0.05 | ||
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| param set-default CA_ROTOR3_PX -0.175 | ||
| param set-default CA_ROTOR3_PY 0.175 | ||
| param set-default CA_ROTOR3_KM -0.05 | ||
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| # extra | ||
| param set-default MPC_THR_HOVER 0.60 | ||
| param set COM_RCL_EXCEPT 4 | ||
| param set NAV_DLL_ACT 0 | ||
| param set NAV_RCL_ACT 0 | ||
| param set MAV_0_BROADCAST 1 | ||
| param set IMU_GYRO_CUTOFF 60 | ||
| param set IMU_DGYRO_CUTOFF 30 | ||
| param set MC_ROLLRATE_P 0.14 | ||
| param set MC_PITCHRATE_P 0.14 | ||
| param set MC_ROLLRATE_I 0.3 | ||
| param set MC_PITCHRATE_I 0.3 | ||
| param set MC_ROLLRATE_D 0.004 | ||
| param set MC_PITCHRATE_D 0.004 | ||
| param set BAT_N_CELLS 4 | ||
| param set SDLOG_MODE 0 |
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