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SITL: added parameters for Morse quad

This commit is contained in:
Andrew Tridgell 2018-12-04 09:04:35 +11:00
parent a4f388e0f3
commit 62c26ec5ff
2 changed files with 32 additions and 2 deletions
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28
libraries/SITL/examples/Morse/quadcopter.parm Normal file
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@ -0,0 +1,28 @@
FRAME_CLASS 1.000000
FRAME_TYPE 6.000000
ATC_ACCEL_P_MAX 36397.976562
ATC_ACCEL_R_MAX 33111.574219
ATC_ACCEL_Y_MAX 36397.976562
ATC_ANG_PIT_P 6.496104
ATC_ANG_RLL_P 6.125903
ATC_ANG_YAW_P 3.144684
ATC_RAT_PIT_D 0.006864
ATC_RAT_PIT_FF 0.000000
ATC_RAT_PIT_FILT 20.000000
ATC_RAT_PIT_I 0.292808
ATC_RAT_PIT_IMAX 0.500000
ATC_RAT_PIT_P 0.292808
ATC_RAT_RLL_D 0.007893
ATC_RAT_RLL_FF 0.000000
ATC_RAT_RLL_FILT 20.000000
ATC_RAT_RLL_I 0.255515
ATC_RAT_RLL_IMAX 0.500000
ATC_RAT_RLL_P 0.255515
ATC_RAT_YAW_D 0.000000
ATC_RAT_YAW_FF 0.000000
ATC_RAT_YAW_FILT 5.000000
ATC_RAT_YAW_I 0.093384
ATC_RAT_YAW_IMAX 0.500000
ATC_RAT_YAW_P 0.933841

6
libraries/SITL/examples/Morse/quadcopter.py
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@ -66,8 +66,10 @@ engines.add_stream('socket')
#keyboard.properties(Speed=3.0)
#vehicle.append(keyboard)
# Environment
env = Environment('land-1/trees')
# Environment. Run in fast mode which gives wire-frame view, but lowers
# CPU load a lot
env = Environment('land-1/trees', fastmode=True)
env.set_camera_location([10.0, -10.0, 10.0])
env.set_camera_rotation([1.0470, 0, 0.7854])
env.select_display_camera(camera)