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ROMFS/px4fmu_common/init.d-posix/airframes/9000_gazebo-classic_2d_spacecraft
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,129 @@ | ||
| #!/bin/sh | ||
| # | ||
| # @name 3DoF Spacecraft Model | ||
| # | ||
| # @type 2D Freeflyer with 8 thrusters - Planar motion | ||
| # | ||
| # @maintainer Pedro Roque <[email protected]> | ||
| # | ||
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| . ${R}etc/init.d/rc.sc_apps | ||
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| param set-default CA_AIRFRAME 13 | ||
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| param set-default CA_ROTOR_COUNT 8 | ||
| param set-default CA_R_REV 255 | ||
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| # Auto to be provided by Custom Airframe | ||
| param set-default CA_METHOD 0 | ||
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| # disable attitude failure detection | ||
| param set-default FD_FAIL_P 0 | ||
| param set-default FD_FAIL_R 0 | ||
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| param set-default CA_ROTOR0_PX -0.12 | ||
| param set-default CA_ROTOR0_PY -0.12 | ||
| param set-default CA_ROTOR0_KM 0.1697 | ||
| param set-default CA_ROTOR0_AX 1.0 | ||
| param set-default CA_ROTOR0_AY 0.0 | ||
| param set-default CA_ROTOR0_AZ 0.0 | ||
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| param set-default CA_ROTOR1_PX 0.12 | ||
| param set-default CA_ROTOR1_PY -0.12 | ||
| param set-default CA_ROTOR1_KM 0.1697 | ||
| param set-default CA_ROTOR1_AX -1.0 | ||
| param set-default CA_ROTOR1_AY 0.0 | ||
| param set-default CA_ROTOR1_AZ 0.0 | ||
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| param set-default CA_ROTOR2_PX -0.12 | ||
| param set-default CA_ROTOR2_PY 0.12 | ||
| param set-default CA_ROTOR2_KM 0.1697 | ||
| param set-default CA_ROTOR2_AX 1.0 | ||
| param set-default CA_ROTOR2_AY 0.0 | ||
| param set-default CA_ROTOR2_AZ 0.0 | ||
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| param set-default CA_ROTOR3_PX 0.12 | ||
| param set-default CA_ROTOR3_PY 0.12 | ||
| param set-default CA_ROTOR3_KM 0.1697 | ||
| param set-default CA_ROTOR3_AX -1.0 | ||
| param set-default CA_ROTOR3_AY 0.0 | ||
| param set-default CA_ROTOR3_AZ 0.0 | ||
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| param set-default CA_ROTOR4_PX 0.12 | ||
| param set-default CA_ROTOR4_PY -0.12 | ||
| param set-default CA_ROTOR4_KM 0.1697 | ||
| param set-default CA_ROTOR4_AX 0.0 | ||
| param set-default CA_ROTOR4_AY 1.0 | ||
| param set-default CA_ROTOR4_AZ 0.0 | ||
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| param set-default CA_ROTOR5_PX 0.12 | ||
| param set-default CA_ROTOR5_PY 0.12 | ||
| param set-default CA_ROTOR5_KM 0.1697 | ||
| param set-default CA_ROTOR5_AX 0.0 | ||
| param set-default CA_ROTOR5_AY -1.0 | ||
| param set-default CA_ROTOR5_AZ 0.0 | ||
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| param set-default CA_ROTOR6_PX -0.12 | ||
| param set-default CA_ROTOR6_PY -0.12 | ||
| param set-default CA_ROTOR6_KM 0.1697 | ||
| param set-default CA_ROTOR6_AX 0.0 | ||
| param set-default CA_ROTOR6_AY 1.0 | ||
| param set-default CA_ROTOR6_AZ 0.0 | ||
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| param set-default CA_ROTOR7_PX -0.12 | ||
| param set-default CA_ROTOR7_PY 0.12 | ||
| param set-default CA_ROTOR7_KM 0.1697 | ||
| param set-default CA_ROTOR7_AX 0.0 | ||
| param set-default CA_ROTOR7_AY -1.0 | ||
| param set-default CA_ROTOR7_AZ 0.0 | ||
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| param set-default PWM_MAIN_FUNC1 101 | ||
| param set-default PWM_MAIN_FUNC2 102 | ||
| param set-default PWM_MAIN_FUNC3 103 | ||
| param set-default PWM_MAIN_FUNC4 104 | ||
| param set-default PWM_MAIN_FUNC5 105 | ||
| param set-default PWM_MAIN_FUNC6 106 | ||
| param set-default PWM_MAIN_FUNC7 107 | ||
| param set-default PWM_MAIN_FUNC8 108 | ||
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| # From Vehicle Board | ||
| param set-default PWM_AUX_TIM0 10 | ||
| param set-default PWM_AUX_TIM1 10 | ||
| param set-default PWM_AUX_TIM2 10 | ||
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| param set-default PWM_AUX_FUNC1 101 | ||
| param set-default PWM_AUX_FUNC2 102 | ||
| param set-default PWM_AUX_FUNC3 103 | ||
| param set-default PWM_AUX_FUNC4 104 | ||
| param set-default PWM_AUX_FUNC5 105 | ||
| param set-default PWM_AUX_FUNC6 106 | ||
| param set-default PWM_AUX_FUNC7 107 | ||
| param set-default PWM_AUX_FUNC8 108 | ||
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| param set-default PWM_AUX_DIS1 0 | ||
| param set-default PWM_AUX_DIS2 0 | ||
| param set-default PWM_AUX_DIS3 0 | ||
| param set-default PWM_AUX_DIS4 0 | ||
| param set-default PWM_AUX_DIS5 0 | ||
| param set-default PWM_AUX_DIS6 0 | ||
| param set-default PWM_AUX_DIS7 0 | ||
| param set-default PWM_AUX_DIS8 0 | ||
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| param set-default PWM_AUX_MIN1 0 | ||
| param set-default PWM_AUX_MIN2 0 | ||
| param set-default PWM_AUX_MIN3 0 | ||
| param set-default PWM_AUX_MIN4 0 | ||
| param set-default PWM_AUX_MIN5 0 | ||
| param set-default PWM_AUX_MIN6 0 | ||
| param set-default PWM_AUX_MIN7 0 | ||
| param set-default PWM_AUX_MIN8 0 | ||
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| # BOARD_PWM_FREQ is downscaled by 10, thus PWM value is given in 10s of usec | ||
| param set-default PWM_AUX_MAX1 10000 | ||
| param set-default PWM_AUX_MAX2 10000 | ||
| param set-default PWM_AUX_MAX3 10000 | ||
| param set-default PWM_AUX_MAX4 10000 | ||
| param set-default PWM_AUX_MAX5 10000 | ||
| param set-default PWM_AUX_MAX6 10000 | ||
| param set-default PWM_AUX_MAX7 10000 | ||
| param set-default PWM_AUX_MAX8 10000 |
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