forked from Archive/PX4-Autopilot
65 lines
1.4 KiB
Plaintext
65 lines
1.4 KiB
Plaintext
#!nsh
|
|
#
|
|
# HIL Malolo 1 (Flightgear)
|
|
#
|
|
# Thomas Gubler <thomasgubler@gmail.com>
|
|
#
|
|
|
|
echo "HIL Malolo 1 starting.."
|
|
|
|
if [ $DO_AUTOCONFIG == yes ]
|
|
then
|
|
# Set all params here, then disable autoconfig
|
|
|
|
param set FW_AIRSPD_MIN 12
|
|
param set FW_AIRSPD_TRIM 25
|
|
param set FW_ATT_TC 0.3
|
|
param set FW_L1_DAMPING 0.74
|
|
param set FW_L1_PERIOD 15
|
|
param set FW_PR_FF 0.8
|
|
param set FW_PR_I 0.05
|
|
param set FW_PR_IMAX 0.2
|
|
param set FW_PR_P 0.1
|
|
param set FW_P_LIM_MAX 45
|
|
param set FW_P_LIM_MIN -45
|
|
param set FW_P_RMAX_NEG 0
|
|
param set FW_P_RMAX_POS 0
|
|
param set FW_P_ROLLFF 0
|
|
param set FW_RR_FF 0.6
|
|
param set FW_RR_I 0.02
|
|
param set FW_RR_IMAX 0.2
|
|
param set FW_RR_P 0.1
|
|
param set FW_R_LIM 45
|
|
param set FW_R_RMAX 0
|
|
param set FW_THR_CRUISE 0.6
|
|
param set FW_THR_MAX 1
|
|
param set FW_THR_MIN 0
|
|
param set FW_T_CLMB_MAX 5
|
|
param set FW_T_HRATE_P 0.02
|
|
param set FW_T_PTCH_DAMP 0
|
|
param set FW_T_RLL2THR 15
|
|
param set FW_T_SINK_MAX 5
|
|
param set FW_T_SINK_MIN 2
|
|
param set FW_T_SRATE_P 0.01
|
|
param set FW_T_TIME_CONST 3
|
|
param set FW_T_VERT_ACC 7
|
|
param set FW_YCO_VMIN 1000
|
|
param set FW_YR_FF 0.0
|
|
param set FW_YR_I 0
|
|
param set FW_YR_IMAX 0.2
|
|
param set FW_YR_P 0.0
|
|
param set FW_Y_RMAX 0
|
|
param set NAV_LAND_ALT 90
|
|
param set NAV_RTL_ALT 100
|
|
param set NAV_RTL_LAND_T -1
|
|
|
|
param set SYS_AUTOCONFIG 0
|
|
param save
|
|
fi
|
|
|
|
set HIL yes
|
|
|
|
set VEHICLE_TYPE fw
|
|
# Set the AERT mixer for HIL (even if the malolo is a flying wing)
|
|
set MIXER FMU_AERT
|