forked from Archive/PX4-Autopilot
58 lines
1.4 KiB
Bash
58 lines
1.4 KiB
Bash
#!/bin/sh
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#
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# Fixed wing default parameters
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#
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# NOTE: Script variables are declared/initialized/unset in the rcS script.
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#
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set VEHICLE_TYPE fw
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# MAV_TYPE_FIXED_WING 1
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param set-default MAV_TYPE 1
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#
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# Default parameters for fixed wing UAVs.
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#
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param set-default COM_POS_FS_DELAY 5
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# there is a 2.5 factor applied on the _FS thresholds if for invalidation
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param set-default COM_POS_FS_EPH 50
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param set-default COM_VEL_FS_EVH 3
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param set-default COM_POS_LOW_EPH 50
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# Disable preflight disarm to not interfere with external launching
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param set-default COM_DISARM_PRFLT -1
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param set-default EKF2_ARSP_THR 8
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param set-default EKF2_FUSE_BETA 1
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param set-default EKF2_GPS_CHECK 21
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param set-default EKF2_MAG_ACCLIM 0
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param set-default EKF2_REQ_EPH 10
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param set-default EKF2_REQ_EPV 10
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param set-default EKF2_REQ_HDRIFT 0.5
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param set-default EKF2_REQ_SACC 1
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param set-default EKF2_REQ_VDRIFT 1
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param set-default EKF2_RNG_QLTY_T 3
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param set-default RTL_TYPE 1
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param set-default RTL_RETURN_ALT 100
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param set-default RTL_DESCEND_ALT 100
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param set-default RTL_LAND_DELAY -1
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#
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# FW uses L1 distance for acceptance radius.
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# Set a smaller NAV_ACC_RAD for vertical acceptance distance.
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#
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param set-default NAV_ACC_RAD 10
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param set-default MIS_TAKEOFF_ALT 25
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param set-default MIS_TKO_LAND_REQ 2
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#
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# FW takeoff acceleration can easily exceed ublox GPS 2G default.
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#
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param set-default GPS_UBX_DYNMODEL 8
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param set-default SYS_HAS_NUM_ASPD 1 # by default require an airspeed sensor
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