mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-09-24 19:08:21 +08:00
3008a496b4
The airframe 10043 (make px4_sitl sihsim_standard_vtol) currently does not have enough forward thrust to reach VT_ARSP_TRANS (10) or VT_ARSP_BLEND (8), so we get front transition timeout. By bisecting, we find that #26720 breaks it. The PR introduces a new dynamic prop model, which is now used in the airframes 1101, 1102, 1103, and 1105 (new addition), but not 10043. The PR also removes a previous magic number that gave the standard VTOL pusher twice the max thrust of the hover motors (2 * 2N = 4N). It introduces a separate SIH_F_T_MAX, but by default it is 2N, causing the weak pusher for 10043. Fix by using the new dynamic propeller model by default, with the same params that #26720 introduces for airframe 1103 (It would also suffice to only set SIH_F_T_MAX=6, but now that we have the nicer model let's use it). Note that 10041 (sihsim_airplane) is not broken by #26720 in this way, as it already has SIH_T_MAX of 6N.
111 lines
3.1 KiB
Bash
111 lines
3.1 KiB
Bash
#!/bin/sh
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#
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# @name SIH Standard VTOL
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#
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# @type Simulation
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# @class VTOL
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#
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# @output Motor1 MC motor front right
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# @output Motor2 MC motor back left
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# @output Motor3 MC motor front left
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# @output Motor4 MC motor back right
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# @output Motor5 Forward thrust motor
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# @output Servo1 Ailerons (single channel)
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# @output Servo2 Elevator
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# @output Servo3 Rudder
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#
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# @board px4_fmu-v2 exclude
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#
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. ${R}etc/init.d/rc.vtol_defaults
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PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
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param set-default SENS_EN_GPSSIM 1
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param set-default SENS_EN_BAROSIM 1
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param set-default SENS_EN_MAGSIM 1
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param set-default SENS_EN_ARSPDSIM 1
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param set-default SENS_GPS0_DELAY 0
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param set-default SENS_GPS1_DELAY 0
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param set-default VT_TYPE 2
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param set-default MPC_MAN_Y_MAX 60
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param set-default MC_PITCH_P 5
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param set-default CA_AIRFRAME 2
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param set-default CA_ROTOR_COUNT 5
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param set-default CA_ROTOR0_KM 0.05
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param set-default CA_ROTOR0_PX 0.2
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param set-default CA_ROTOR0_PY 0.2
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param set-default CA_ROTOR1_KM 0.05
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param set-default CA_ROTOR1_PX -0.2
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param set-default CA_ROTOR1_PY -0.2
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param set-default CA_ROTOR2_PX 0.2
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param set-default CA_ROTOR2_PY -0.2
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param set-default CA_ROTOR2_KM -0.05
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param set-default CA_ROTOR3_PX -0.2
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param set-default CA_ROTOR3_PY 0.2
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param set-default CA_ROTOR3_KM -0.05
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param set-default CA_ROTOR4_PX -0.3
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param set-default CA_ROTOR4_KM 0.05
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param set-default CA_ROTOR4_AX 1
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param set-default CA_ROTOR4_AZ 0
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# SIH for now hardcodes this configuration which we need to match in the airframe files.
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param set-default CA_SV_CS_COUNT 3
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param set-default CA_SV_CS0_TRQ_R 1
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param set-default CA_SV_CS0_TYPE 15 # single channel aileron
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param set-default CA_SV_CS1_TRQ_P 1
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param set-default CA_SV_CS1_TYPE 3 # elevator
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param set-default CA_SV_CS2_TRQ_Y 1
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param set-default CA_SV_CS2_TYPE 4 # rudder
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param set-default FW_AIRSPD_MIN 7
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param set-default FW_AIRSPD_TRIM 10
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param set-default FW_AIRSPD_MAX 12
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param set-default PWM_MAIN_FUNC1 101
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param set-default PWM_MAIN_FUNC2 102
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param set-default PWM_MAIN_FUNC3 103
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param set-default PWM_MAIN_FUNC4 104
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param set-default PWM_MAIN_FUNC5 201
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param set-default PWM_MAIN_FUNC6 202
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param set-default PWM_MAIN_FUNC7 203
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param set-default PWM_MAIN_FUNC8 105
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param set-default MAV_TYPE 22
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# set SYS_HITL to 2 to start the SIH and avoid sensors startup
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# param set-default SYS_HITL 2
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param set-default SENS_DPRES_OFF 0.001
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param set SIH_T_MAX 2.0
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param set SIH_Q_MAX 0.0165
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param set SIH_MASS 0.2
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# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
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param set SIH_IXX 0.00354
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param set SIH_IYY 0.000625
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param set SIH_IZZ 0.00300
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param set SIH_IXZ 0
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param set SIH_KDV 0.2
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param set SIH_L_ROLL 0.2
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# pusher propeller model with advance ratio, model from UIUC APC 8x6"
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param set SIH_F_T_MAX 6
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param set SIH_F_Q_MAX 0.03
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# if SIH_F_CT0 > 0, SIH_F_T_MAX and SIH_F_Q_MAX will be overridden
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param set SIH_F_CT0 0.131
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param set SIH_F_CT1 0.004
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param set SIH_F_CT2 -0.146
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param set SIH_F_CP0 0.0777
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param set SIH_F_CP1 0.0498
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param set SIH_F_CP2 -0.11
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param set SIH_F_DIA_INCH 8
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param set SIH_F_RPM_MAX 9000
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# sih as standard vtol
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param set SIH_VEHICLE_TYPE 3
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