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haitomatic committed Mar 7, 2024
1 parent c773ec9 commit 4ebd125
Showing 1 changed file with 25 additions and 42 deletions.
Original file line number Diff line number Diff line change
Expand Up @@ -39,54 +39,37 @@ param set-default SIM_GZ_EC_MAX1 1000
param set-default SIM_GZ_SV_FUNC1 201
param set-default SIM_GZ_SV_FUNC2 202

# Disable internal magnetometer
param set CAL_MAG0_PRIO 0

# Airspeed parameters
param set-default ASPD_PRIMARY 1
# param set-default FW_AIRSPD_MAX 22.0
# param set-default FW_AIRSPD_MIN 14.0
# param set-default FW_AIRSPD_STALL 12.0
# param set-default FW_AIRSPD_TRIM 18.0

# Maximum landing slope angle in deg
param set-default FW_LND_ANG 8
param set-default FW_AIRSPD_MAX 22.0
param set-default FW_AIRSPD_MIN 14.0
param set-default FW_AIRSPD_STALL 12.0
param set-default FW_AIRSPD_TRIM 18.0

# RC loss failsafe to HOLD mode
param set-default COM_RC_IN_MODE 1

# Fixed wing control
# Pitch rate
param set-default FW_PR_P 0.9
param set-default FW_PR_FF 0.5
param set-default FW_PR_I 0.5
param set-default TRIM_PITCH -0.15
# Pitch angle in deg
param set-default FW_PSP_OFF 0
param set-default FW_P_LIM_MIN -15
# Roll rate
param set-default FW_RR_FF 0.5
param set-default FW_RR_P 0.3
param set-default FW_RR_I 0.5
# Yaw rate
param set-default FW_YR_FF 0.5
param set-default FW_YR_P 0.6
param set-default FW_YR_I 0.5
# Throttle limit
# param set-default FW_THR_MAX 0.6
# param set-default FW_THR_MIN 0.05
# param set-default FW_THR_TRIM 0.25
# Climb and sink rate
param set-default FW_T_CLMB_MAX 8
param set-default FW_T_SINK_MAX 2.7
param set-default FW_T_SINK_MIN 2.2

# Navigation
param set-default NAV_ACC_RAD 15
param set-default NAV_DLL_ACT 2
# Maximum manual roll angle
param set-default FW_MAN_R_MAX 60.0

# Misc
param set-default MIS_TAKEOFF_ALT 30.0
param set-default RTL_RETURN_ALT 30.0
# Rate control
param set-default FW_RR_IMAX 0.4000
param set-default FW_YR_IMAX 0.4000

# # Climb and sink rate
# param set-default FW_T_CLMB_MAX 8
# param set-default FW_T_SINK_MAX 2.7
# param set-default FW_T_SINK_MIN 2.2

# Catapult launch with acc threshold trigger
# # Navigation
# param set-default NAV_ACC_RAD 15
# param set-default NAV_DLL_ACT 2

# Launch detection
param set-default FW_LAUN_DETCN_ON 1
param set-default FW_THR_IDLE 0.1 # needs to be running before throw as that's how gazebo detects arming
param set-default FW_LAUN_AC_THLD 10

# Misc
param set-default RTL_RETURN_ALT 30.0

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