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ardupilot/libraries/SITL/examples/Webots_Python/params/iris.parm

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SITL: Add Webots 2023a support and examples The various C Webots controllers are replaced by a single Python controller - More readable (in my opinion) - Does not require compilation - Easily modifiable to run user code - Can be blackboxed and configured via arguments when designing a robot model - Optionally provides the ability to stream camera images over TCP - Generalizable to copters and rovers (and probably more) - Supports multi-vehicle simulation (including of multiple types) - Requires no non-standard libraries (neither does current) Higher fidelity example worlds - Iris quadcopter demo world similar to gazebo - Crazyflie quadcopter demo world (crazyflie models baked into webots) - Pioneer3at rover demo world (pioneer models baked into webots)
2023-01-21 21:11:37 -04:00
FRAME_CLASS 1 # Multirotor
FRAME_TYPE 1 # X class
ATC_ANG_PIT_P 0.5
ATC_ANG_RLL_P 0.5
ATC_ANG_YAW_P 0.5
ATC_RAT_PIT_P 0.05
ATC_RAT_RLL_P 0.05
ATC_RAT_YAW_P 0.02
ATC_RAT_PIT_I 0
ATC_RAT_RLL_I 0
ATC_RAT_PIT_D 0.0003
ATC_RAT_RLL_D 0.0003
ATC_RAT_YAW_D 0.000001
AHRS_EKF_TYPE 10 # Use sim AHRS
ARMING_CHECK 1045534 # No RC requirements
MOT_THST_EXPO 0 # No motor exponential
SCHED_LOOP_RATE 300
INS_GYR_CAL 0