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SITL: move all models to unified rcS startup and remove old scripts
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,30 @@ | ||
| #!nsh | ||
| # | ||
| # @name 3DR Iris Quadrotor SITL (Optical Flow) | ||
| # | ||
| # @type Quadrotor Wide | ||
| # | ||
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| sh /etc/init.d-posix/10016_iris | ||
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| if [ $AUTOCNF == yes ] | ||
| then | ||
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| param set EKF2_AID_MASK 2 | ||
| param set EKF2_EV_DELAY 5 | ||
| param set EKF2_EVP_NOISE 0.05 | ||
| param set EKF2_EVA_NOISE 0.05 | ||
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| param set INAV_LIDAR_EST 1 | ||
| param set INAV_W_XY_FLOW 1.0 | ||
| param set INAV_W_XY_GPS_P 0.0 | ||
| param set INAV_W_XY_GPS_V 0.0 | ||
| param set INAV_W_Z_GPS_P 0.0 | ||
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| # LPE: Flow-only mode | ||
| param set LPE_FUSION 242 | ||
| param set LPE_FAKE_ORIGIN 1 | ||
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| param set MPC_ALT_MODE 2 | ||
| fi | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,4 @@ | ||
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| mavlink stream -r 10 -s DISTANCE_SENSOR -u $udp_gcs_port_local | ||
| mavlink stream -r 10 -s VISION_POSITION_ESTIMATE -u $udp_gcs_port_local | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,17 @@ | ||
| #!nsh | ||
| # | ||
| # @name 3DR Iris Quadrotor SITL (irlock) | ||
| # | ||
| # @type Quadrotor Wide | ||
| # | ||
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| sh /etc/init.d-posix/10016_iris | ||
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| if [ $AUTOCNF == yes ] | ||
| then | ||
| # enable fusion of landing target velocity | ||
| param set LTEST_MODE 1 | ||
| param set PLD_HACC_RAD 0.1 | ||
| fi | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,14 @@ | ||
| #!nsh | ||
| # | ||
| # @name 3DR Iris Quadrotor SITL (rplidar) | ||
| # | ||
| # @type Quadrotor Wide | ||
| # | ||
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| sh /etc/init.d-posix/10016_iris | ||
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| if [ $AUTOCNF == yes ] | ||
| then | ||
| param set LPE_FUSION 242 | ||
| fi | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,16 @@ | ||
| #!nsh | ||
| # | ||
| # @name 3DR Iris Quadrotor SITL (Vision) | ||
| # | ||
| # @type Quadrotor Wide | ||
| # | ||
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| sh /etc/init.d-posix/1010_iris_opt_flow | ||
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| if [ $AUTOCNF == yes ] | ||
| then | ||
| param set EKF2_AID_MASK 8 | ||
| param set EKF2_EV_DELAY 5 | ||
| fi | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,17 @@ | ||
| #!nsh | ||
| # | ||
| # @name Solo | ||
| # | ||
| # @type Quadrotor | ||
| # | ||
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| sh /etc/init.d/rc.mc_defaults | ||
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| if [ $AUTOCNF == yes ] | ||
| then | ||
| param set MC_PITCHRATE_P 0.15 | ||
| param set MC_ROLLRATE_P 0.15 | ||
| fi | ||
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| set MIXER quad_x | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,10 @@ | ||
| #!nsh | ||
| # | ||
| # @name Hippocampus UUV | ||
| # | ||
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| sh /etc/init.d/rc.mc_defaults | ||
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| set MIXER uuv_quad_x | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,42 @@ | ||
| #!nsh | ||
| # | ||
| # @name Plane SITL | ||
| # | ||
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| sh /etc/init.d/rc.fw_defaults | ||
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| if [ $AUTOCNF == yes ] | ||
| then | ||
| param set MAV_TYPE 1 | ||
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| param set EKF2_ARSP_THR 8.0 | ||
| param set EKF2_FUSE_BETA 1 | ||
| param set EKF2_MAG_ACCLIM 0 | ||
| param set EKF2_MAG_YAWLIM 0 | ||
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| param set FW_LND_ANG 8 | ||
| param set FW_P_TC 0.5 | ||
| param set FW_PR_FF 0.40 | ||
| param set FW_PR_I 0.05 | ||
| param set FW_PR_P 0.05 | ||
| param set FW_R_TC 0.7 | ||
| param set FW_RR_FF 0.20 | ||
| param set FW_RR_I 0.02 | ||
| param set FW_RR_P 0.22 | ||
| param set FW_THR_IDLE 0.15 | ||
| param set FW_W_EN 1 | ||
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| param set MIS_LTRMIN_ALT 30 | ||
| param set MIS_TAKEOFF_ALT 30 | ||
| param set NAV_ACC_RAD 15.0 | ||
| param set NAV_DLL_ACT 2 | ||
| param set NAV_LOITER_RAD 50 | ||
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| param set RWTO_TKOFF 1 | ||
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| param set WEST_EN 1 | ||
| fi | ||
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| set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix | ||
| set MIXER custom | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,45 @@ | ||
| #!nsh | ||
| # | ||
| # @name Standard VTOL | ||
| # | ||
| # @type Standard VTOL | ||
| # | ||
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| sh /etc/init.d/rc.vtol_defaults | ||
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| if [ $AUTOCNF == yes ] | ||
| then | ||
| param set MAV_TYPE 22 | ||
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| param set FW_AIRSPD_MAX 25 | ||
| param set FW_AIRSPD_MIN 14 | ||
| param set FW_AIRSPD_TRIM 16 | ||
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| param set MC_ROLLRATE_P 0.3 | ||
| param set MIS_LTRMIN_ALT 10 | ||
| param set MIS_TAKEOFF_ALT 10 | ||
| param set MIS_YAW_TMT 10 | ||
| param set MPC_ACC_HOR_MAX 2 | ||
| param set MPC_ACC_HOR_MAX 2.0 | ||
| param set MPC_THR_MIN 0.1 | ||
| param set MPC_TKO_SPEED 1.0 | ||
| param set MPC_XY_P 0.8 | ||
| param set MPC_XY_VEL_D 0.005 | ||
| param set MPC_XY_VEL_I 0.2 | ||
| param set MPC_XY_VEL_P 0.15 | ||
| param set MPC_Z_VEL_MAX_DN 1.5 | ||
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| param set NAV_ACC_RAD 5.0 | ||
| param set NAV_LOITER_RAD 80 | ||
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| param set VT_F_TRANS_DUR 5 | ||
| param set VT_F_TRANS_THR 0.75 | ||
| param set VT_MOT_COUNT 4 | ||
| param set VT_TYPE 2 | ||
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| param set WEST_EN 1 | ||
| fi | ||
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| set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix | ||
| set MIXER custom | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,47 @@ | ||
| #!nsh | ||
| # | ||
| # @name Quadrotor + Tailsitter | ||
| # | ||
| # @type VTOL Quad Tailsitter | ||
| # | ||
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| sh /etc/init.d/rc.vtol_defaults | ||
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| if [ $AUTOCNF == yes ] | ||
| then | ||
| param set MAV_TYPE 20 | ||
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| param set FW_AIRSPD_MAX 25 | ||
| param set FW_AIRSPD_MIN 14 | ||
| param set FW_AIRSPD_TRIM 16 | ||
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| param set MC_ROLLRATE_P 0.3 | ||
| param set MIS_LTRMIN_ALT 10 | ||
| param set MIS_TAKEOFF_ALT 10 | ||
| param set MIS_YAW_TMT 10 | ||
| param set MPC_ACC_HOR_MAX 2 | ||
| param set MPC_ACC_HOR_MAX 2.0 | ||
| param set MPC_THR_MIN 0.1 | ||
| param set MPC_TKO_SPEED 1.0 | ||
| param set MPC_XY_P 0.15 | ||
| param set MPC_XY_VEL_D 0.005 | ||
| param set MPC_XY_VEL_I 0.2 | ||
| param set MPC_XY_VEL_P 0.05 | ||
| param set MPC_Z_VEL_MAX_DN 1.5 | ||
| param set MPC_Z_VEL_P 0.8 | ||
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| param set NAV_ACC_RAD 5.0 | ||
| param set NAV_LOITER_RAD 80 | ||
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| param set VT_F_TRANS_DUR 1.5 | ||
| param set VT_F_TRANS_THR 0.7 | ||
| param set VT_MOT_COUNT 0 | ||
| param set VT_TYPE 0 | ||
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| param set WEST_EN 1 | ||
| fi | ||
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| set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix | ||
| set MIXER custom | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,50 @@ | ||
| #!nsh | ||
| # | ||
| # @name VTOL Tiltrotor | ||
| # | ||
| # @type VTOL Tiltrotor | ||
| # | ||
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| sh /etc/init.d/rc.vtol_defaults | ||
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| if [ $AUTOCNF == yes ] | ||
| then | ||
| param set MAV_TYPE 21 | ||
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| param set FW_AIRSPD_MAX 25 | ||
| param set FW_AIRSPD_MIN 14 | ||
| param set FW_AIRSPD_TRIM 16 | ||
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| param set MC_ROLLRATE_P 0.3 | ||
| param set MIS_LTRMIN_ALT 10 | ||
| param set MIS_TAKEOFF_ALT 10 | ||
| param set MIS_YAW_TMT 10 | ||
| param set MPC_ACC_HOR_MAX 2 | ||
| param set MPC_ACC_HOR_MAX 2.0 | ||
| param set MPC_THR_MIN 0.1 | ||
| param set MPC_TKO_SPEED 1.0 | ||
| param set MPC_XY_P 0.15 | ||
| param set MPC_XY_VEL_D 0.005 | ||
| param set MPC_XY_VEL_I 0.2 | ||
| param set MPC_XY_VEL_P 0.05 | ||
| param set MPC_Z_VEL_MAX_DN 1.5 | ||
| param set MPC_Z_VEL_P 0.8 | ||
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| param set NAV_ACC_RAD 5.0 | ||
| param set NAV_LOITER_RAD 80 | ||
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| param set VT_F_TRANS_DUR 1.5 | ||
| param set VT_F_TRANS_THR 0.75 | ||
| param set VT_MOT_COUNT 4 | ||
| param set VT_TILT_FW 3.1415 | ||
| param set VT_TILT_TRANS 1.2 | ||
| param set VT_TYPE 1 | ||
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| param set WEST_EN 1 | ||
| fi | ||
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| set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix | ||
| set MIXER custom | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,38 @@ | ||
| #!nsh | ||
| # | ||
| # @name Rover | ||
| # | ||
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| sh /etc/init.d/rc.ugv_defaults | ||
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| if [ $AUTOCNF == yes ] | ||
| then | ||
| param set MAV_TYPE 10 | ||
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| param set GND_L1_DIST 5 | ||
| param set GND_SP_CTRL_MODE 1 | ||
| param set GND_SPEED_D 3 | ||
| param set GND_SPEED_I 0.001 | ||
| param set GND_SPEED_IMAX 0.125 | ||
| param set GND_SPEED_P 0.25 | ||
| param set GND_SPEED_THR_SC 1 | ||
| param set GND_THR_CRUISE 0.3 | ||
| param set GND_THR_IDLE 0 | ||
| param set GND_THR_MAX 0.5 | ||
| param set GND_THR_MIN 0 | ||
| param set GND_SPEED_TRIM 4 | ||
| param set GND_WR_D 1.2 | ||
| param set GND_WR_I 0.9674 | ||
| param set GND_WR_IMAX 0.1 | ||
| param set GND_WR_P 2 | ||
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| param set MIS_LTRMIN_ALT 0.01 | ||
| param set MIS_TAKEOFF_ALT 0.01 | ||
| param set NAV_ACC_RAD 0.5 | ||
| param set NAV_LOITER_RAD 2 | ||
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| param set CBRK_AIRSPD_CHK 162128 | ||
| fi | ||
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| set MIXER_FILE etc/mixers-sitl/rover_sitl.main.mix | ||
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