mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-02 14:13:42 -04:00
d358ca1b32
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)
23 lines
511 B
Plaintext
23 lines
511 B
Plaintext
FRAME_CLASS 1 # Multirotor
|
|
FRAME_TYPE 3 # H class
|
|
|
|
ATC_ANG_PIT_P 0.5
|
|
ATC_ANG_RLL_P 0.5
|
|
ATC_ANG_YAW_P 0.50000
|
|
|
|
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 |