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1031_gazebo-classic_plane_cam

1031_gazebo-classic_plane_cam 2.0 KB
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  1. #!/bin/sh
    2. 

  2. #
    3. 

  3. # @name Plane SITL with camera
    4. 

  4. #
    5. 

  5. 

  6. . ${R}etc/init.d/rc.fw_defaults
    7. 

  7. 

  8. 

  9. 

  10. param set-default FW_LND_ANG 8
    11. 

  11. 

  12. param set-default NPFG_PERIOD 12
    13. 

  13. 

  14. param set-default FW_PR_P 0.9
    15. 

  15. param set-default FW_PR_FF 0.5
    16. 

  16. param set-default FW_PR_I 0.5
    17. 

  17. param set-default TRIM_PITCH -0.15
    18. 

  18. 

  19. param set-default FW_PSP_OFF 2
    20. 

  20. param set-default FW_P_LIM_MIN -15
    21. 

  21. 

  22. param set-default FW_RR_FF 0.5
    23. 

  23. param set-default FW_RR_P 0.3
    24. 

  24. param set-default FW_RR_I 0.5
    25. 

  25. 

  26. param set-default FW_YR_FF 0.5
    27. 

  27. param set-default FW_YR_P 0.6
    28. 

  28. param set-default FW_YR_I 0.5
    29. 

  29. 

  30. param set-default FW_SPOILERS_LND 0.4
    31. 

  31. 

  32. param set-default FW_THR_MAX 0.6
    33. 

  33. param set-default FW_THR_MIN 0.05
    34. 

  34. param set-default FW_THR_TRIM 0.25
    35. 

  35. 

  36. param set-default FW_T_CLMB_MAX 8
    37. 

  37. param set-default FW_T_SINK_MAX 2.7
    38. 

  38. param set-default FW_T_SINK_MIN 2.2
    39. 

  39. 

  40. param set-default FW_W_EN 1
    41. 

  41. 

  42. param set-default MIS_TAKEOFF_ALT 30
    43. 

  43. 

  44. param set-default NAV_ACC_RAD 15
    45. 

  45. param set-default NAV_DLL_ACT 2
    46. 

  46. 

  47. param set-default RWTO_TKOFF 1
    48. 

  48. 

  49. param set-default CA_AIRFRAME 1
    50. 

  50. 

  51. param set-default CA_ROTOR_COUNT 1
    52. 

  52. param set-default CA_ROTOR0_PX 0.3
    53. 

  53. 

  54. param set-default CA_SV_CS_COUNT 6
    55. 

  55. param set-default CA_SV_CS0_TRQ_R -0.5
    56. 

  56. param set-default CA_SV_CS0_TYPE 1
    57. 

  57. param set-default CA_SV_CS1_TRQ_R 0.5
    58. 

  58. param set-default CA_SV_CS1_TYPE 2
    59. 

  59. param set-default CA_SV_CS2_TRQ_P 1
    60. 

  60. param set-default CA_SV_CS2_TYPE 3
    61. 

  61. param set-default CA_SV_CS3_TRQ_Y 1
    62. 

  62. param set-default CA_SV_CS3_TYPE 4
    63. 

  63. param set-default CA_SV_CS4_TYPE 9
    64. 

  64. param set-default CA_SV_CS5_TYPE 10
    65. 

  65. param set-default PWM_MAIN_FUNC3 204
    66. 

  66. param set-default PWM_MAIN_FUNC4 205
    67. 

  67. param set-default PWM_MAIN_FUNC5 101
    68. 

  68. param set-default PWM_MAIN_FUNC6 201
    69. 

  69. param set-default PWM_MAIN_FUNC7 202
    70. 

  70. param set-default PWM_MAIN_FUNC8 203
    71. 

  71. param set-default PWM_MAIN_FUNC9 206
    72. 

  72. param set-default PWM_MAIN_REV 256
    73. 

  73. 

  74. # Camera trigger interface is MAVLink
    75. 

  75. param set-default TRIG_INTERFACE 3
    76. 

  76. 

  77. # Distance trigger mode enabled
    78. 

  78. param set-default TRIG_MODE 4
    79. 

  79. 

  80. #gimbal control
    81. 

  81. param set-default MNT_MODE_IN 4
    82. 

  82. param set-default MNT_MODE_OUT 2
    83. 

  83. param set-default MAV_PROTO_VER 2
    84. 

  84. param set-default PWM_MAIN_FUNC10 420
    85. 

  85. param set-default PWM_MAIN_FUNC11 421
    86. 

  86. param set-default PWM_MAIN_FUNC12 422
    87.