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38 lines
1.1 KiB
Bash
38 lines
1.1 KiB
Bash
#!/bin/sh
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#
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# @name COEX Clover Simulator
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#
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# @type Quadrotor X
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#
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. ${R}etc/init.d-posix/airframes/10016_iris # base on iris
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param set-default ATT_W_EXT_HDG 0.5
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param set-default ATT_EXT_HDG_M 1 # 0 = none, 1 = vision, 2 = mocap
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param set-default COM_DISARM_LAND 1.0
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param set-default COM_RCL_EXCEPT 4 # enable offboard flights without rc
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param set-default LPE_FLW_SCALE 1.0
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param set-default LPE_FLW_R 0.2
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param set-default LPE_FLW_RR 0.0
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param set-default LPE_FLW_QMIN 10
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param set-default LPE_VIS_DELAY 0.0
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param set-default LPE_VIS_Z 0.1
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param set-default LPE_FUSION 86 # flow + vis + land detector + gyro comp
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param set-default SENS_FLOW_ROT 0
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param set-default SENS_FLOW_MINHGT 0.0
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param set-default SENS_FLOW_MAXHGT 4.0
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param set-default SENS_FLOW_MAXR 10.0
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param set-default EKF2_AID_MASK 26 # flow + vis pos + vis yaw
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param set-default EKF2_OF_DELAY 0
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param set-default EKF2_OF_QMIN 10
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param set-default EKF2_OF_N_MIN 0.05
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param set-default EKF2_OF_N_MAX 0.2
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param set-default EKF2_HGT_MODE 2 # 0 = baro, 1 = gps, 2 = range, 3 = vision
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param set-default EKF2_EVA_NOISE 0.1
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param set-default EKF2_EVP_NOISE 0.1
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param set-default EKF2_EV_DELAY 0
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