exp

tiiuae · Mar 11, 2024 · 97594db · 97594db
1 parent b593d5c
commit 97594db
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Showing 2 changed files with 5 additions and 2 deletions.
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4440_gz_ssrc_skywalker_x8 b/ROMFS/px4fmu_common/init.d-posix/airframes/4440_gz_ssrc_skywalker_x8
@@ -33,7 +33,7 @@ param set-default CA_SV_CS1_TRQ_R 0.5
 
 # GZ SIM
 param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_MIN1 0
+param set-default SIM_GZ_EC_MIN1 150
 param set-default SIM_GZ_EC_MAX1 1000
 
 param set-default SIM_GZ_SV_FUNC1 201
@@ -90,3 +90,5 @@ param set-default FW_LAUN_DETCN_ON 1
 
 # Misc
 param set-default RTL_RETURN_ALT 30.0
+param set-default RTL_DESCEND_ALT 30.0
+param set-default FW_LND_USETER 0
diff --git a/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp b/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp
@@ -103,7 +103,7 @@ void GZMixingInterfaceESC::motorSpeedCallback(const gz::msgs::Actuators &actuato
 	}
 
 	pthread_mutex_lock(&_node_mutex);
-
+	px4_info("motorSpeedCallback");
 	esc_status_s esc_status{};
 	esc_status.esc_count = actuators.velocity_size();
 
@@ -114,6 +114,7 @@ void GZMixingInterfaceESC::motorSpeedCallback(const gz::msgs::Actuators &actuato
 
 		if (actuators.velocity(i) > 0) {
 			esc_status.esc_armed_flags |= 1 << i;
+			px4_info("ESC %d: %d RPM", i, actuators.velocity(i));
 		}
 	}