diff --git a/Tools/simulation/Tools/ROMFS2QGC/71003_gz_easy_glider4 b/Tools/simulation/Tools/ROMFS2QGC/71003_gz_easy_glider4 new file mode 100644 index 000000000000..093b3dd602cc --- /dev/null +++ b/Tools/simulation/Tools/ROMFS2QGC/71003_gz_easy_glider4 @@ -0,0 +1,1231 @@ +#!/bin/sh +# +# @name Advanced Plane SITL +# + +. ${R}etc/init.d/rc.fw_defaults + +PX4_SIMULATOR=${PX4_SIMULATOR:=gz} +PX4_GZ_WORLD=${PX4_GZ_WORLD:=default} +PX4_SIM_MODEL=${PX4_SIM_MODEL:=advanced_plane} + +param set-default SIM_GZ_EN 1 + +param set-default SENS_EN_GPSSIM 1 +param set-default SENS_EN_MAGSIM 1 +param set-default SENS_EN_ARSPDSIM 1 + +param set-default FW_LND_ANG 8 + +param set-default FW_PR_FF 0.08 +param set-default FW_PR_I 0.3 +param set-default FW_PR_P 0.08 + +param set-default FW_RR_FF 0.05 +param set-default FW_RR_I 0.2 +param set-default FW_RR_P 0.03 + +param set-default FW_YR_FF 0.3 +param set-default FW_YR_I 0.4 +param set-default FW_YR_P 0.2 + +param set-default FW_PSP_OFF 2 +param set-default FW_P_LIM_MAX 32 +param set-default FW_P_LIM_MIN -15 + +param set-default FW_SPOILERS_LND 0.4 + +param set-default FW_THR_MIN 0.05 +param set-default FW_THR_TRIM 0.25 +param set-default FW_THR_MAX 0.6 + +param set-default FW_T_CLMB_R_SP 5 +param set-default FW_T_CLMB_MAX 6 +param set-default FW_T_SINK_MAX 2.7 +param set-default FW_T_SINK_MIN 2.2 + +param set-default FW_W_EN 1 + +param set-default NAV_DLL_ACT 2 + +param set-default RWTO_TKOFF 1 + +param set-default CA_AIRFRAME 1 + +param set-default CA_ROTOR_COUNT 1 + +param set-default CA_SV_CS_COUNT 6 +param set-default CA_SV_CS0_TRQ_R -0.5 +param set-default CA_SV_CS0_TYPE 1 +param set-default CA_SV_CS1_TRQ_R 0.5 +param set-default CA_SV_CS1_TYPE 2 +param set-default CA_SV_CS2_TRQ_P 1 +param set-default CA_SV_CS2_TYPE 3 +param set-default CA_SV_CS3_TRQ_Y 1 +param set-default CA_SV_CS3_TYPE 4 +param set-default CA_SV_CS4_TYPE 9 +param set-default CA_SV_CS5_TYPE 10 + +param set-default SIM_GZ_EC_FUNC1 101 +param set-default SIM_GZ_EC_MIN1 10 +param set-default SIM_GZ_EC_MAX1 1600 + +param set-default SIM_GZ_SV_FUNC1 201 +param set-default SIM_GZ_SV_FUNC2 202 +param set-default SIM_GZ_SV_FUNC3 203 +param set-default SIM_GZ_SV_FUNC4 204 +param set-default SIM_GZ_SV_FUNC5 205 +param set-default SIM_GZ_SV_FUNC6 206 +# param set-default ASPD_BETA_GATE 1.0 +# param set-default ASPD_BETA_NOISE 0.30000001192092896 +# param set-default ASPD_DO_CHECKS 7.0 +# param set-default ASPD_FALLBACK_GW 0.0 +# param set-default ASPD_FS_INNOV 5.0 +# param set-default ASPD_FS_INTEG 10.0 +# param set-default ASPD_FS_T_START -1.0 +# param set-default ASPD_FS_T_STOP 2.0 +# param set-default ASPD_PRIMARY 1.0 +# param set-default ASPD_SCALE_1 1.0 +# param set-default ASPD_SCALE_2 1.0 +# param set-default ASPD_SCALE_3 1.0 +# param set-default ASPD_SCALE_APPLY 2.0 +# param set-default ASPD_SCALE_NSD 9.9999997473788e-05 +# param set-default ASPD_TAS_GATE 3.0 +# param set-default ASPD_TAS_NOISE 1.399999976158142 +# param set-default ASPD_WERR_THR 0.550000011920929 +# param set-default ASPD_WIND_NSD 0.009999999776482582 +# param set-default BAT1_A_PER_V 3.5999999046325684 +param set-default BAT1_CAPACITY 2200.0 +# param set-default BAT1_I_CHANNEL -1.0 +param set-default BAT1_N_CELLS 3.0 +param set-default BAT1_R_INTERNAL 0.004999999888241291 +param set-default BAT1_SOURCE 0.0 +# param set-default BAT1_V_CHANNEL -1.0 +param set-default BAT1_V_CHARGED 4.050000190734863 +# param set-default BAT1_V_DIV 18.989871978759766 +param set-default BAT1_V_EMPTY 3.5999999046325684 +# param set-default BAT1_V_LOAD_DROP 0.10000000149011612 +# param set-default BAT2_A_PER_V -1.0 +param set-default BAT2_CAPACITY 2200.0 +# param set-default BAT2_I_CHANNEL -1.0 +param set-default BAT2_N_CELLS 3.0 +param set-default BAT2_R_INTERNAL 0.004999999888241291 +param set-default BAT2_SOURCE -1.0 +# param set-default BAT2_V_CHANNEL -1.0 +param set-default BAT2_V_CHARGED 4.199999809265137 +# param set-default BAT2_V_DIV -1.0 +param set-default BAT2_V_EMPTY 3.200000047683716 +# param set-default BAT2_V_LOAD_DROP 0.10000000149011612 +param set-default BAT_AVRG_CURRENT 15.0 +param set-default BAT_CRIT_THR 0.25 +param set-default BAT_EMERGEN_THR 0.10000000149011612 +param set-default BAT_LOW_THR 0.5 +# param set-default BAT_N_CELLS 3.0 +# param set-default BAT_V_CHARGED 4.050000190734863 +# param set-default BAT_V_EMPTY 3.5999999046325684 +# param set-default BAT_V_LOAD_DROP 0.30000001192092896 +# param set-default BAT_V_OFFS_CURR 0.0 +# param set-default CAL_ACC0_ID 4259850.0 +# param set-default CAL_ACC0_PRIO 50.0 +# param set-default CAL_ACC0_ROT -1.0 +# param set-default CAL_ACC0_XOFF -0.1263124793767929 +# param set-default CAL_ACC0_XSCALE 0.9809322357177734 +# param set-default CAL_ACC0_YOFF -0.1421743929386139 +# param set-default CAL_ACC0_YSCALE 1.0058633089065552 +# param set-default CAL_ACC0_ZOFF 0.09369020909070969 +# param set-default CAL_ACC0_ZSCALE 0.9803009033203125 +# param set-default CAL_ACC1_ID 2490378.0 +# param set-default CAL_ACC1_PRIO 50.0 +# param set-default CAL_ACC1_ROT -1.0 +# param set-default CAL_ACC1_XOFF 0.23187480866909027 +# param set-default CAL_ACC1_XSCALE 0.9878359436988831 +# param set-default CAL_ACC1_YOFF 0.015526968985795975 +# param set-default CAL_ACC1_YSCALE 1.0133894681930542 +# param set-default CAL_ACC1_ZOFF -0.06926688551902771 +# param set-default CAL_ACC1_ZSCALE 0.9960904121398926 +# param set-default CAL_ACC2_ID 0.0 +# param set-default CAL_ACC3_ID 0.0 +# param set-default CAL_AIR_CMODEL 0.0 +# param set-default CAL_AIR_TUBED_MM 1.5 +# param set-default CAL_AIR_TUBELEN 0.20000000298023224 +# param set-default CAL_BARO0_ID 0.0 +# param set-default CAL_BARO1_ID 0.0 +# param set-default CAL_BARO2_ID 0.0 +# param set-default CAL_BARO3_ID 0.0 +# param set-default CAL_GYRO0_ID 4325386.0 +# param set-default CAL_GYRO0_PRIO 50.0 +# param set-default CAL_GYRO0_ROT -1.0 +# param set-default CAL_GYRO0_XOFF 0.001020277151837945 +# param set-default CAL_GYRO0_YOFF -0.002719607204198837 +# param set-default CAL_GYRO0_ZOFF -0.000397246010834351 +# param set-default CAL_GYRO1_ID 2490378.0 +# param set-default CAL_GYRO1_PRIO 50.0 +# param set-default CAL_GYRO1_ROT -1.0 +# param set-default CAL_GYRO1_XOFF 0.016015775501728058 +# param set-default CAL_GYRO1_YOFF -0.0121398214250803 +# param set-default CAL_GYRO1_ZOFF 0.004861600231379271 +# param set-default CAL_GYRO2_ID 0.0 +# param set-default CAL_GYRO3_ID 0.0 +# param set-default CAL_MAG0_ID 396809.0 +# param set-default CAL_MAG0_PRIO 75.0 +# param set-default CAL_MAG0_ROT 0.0 +# param set-default CAL_MAG0_XCOMP 0.0 +# param set-default CAL_MAG0_XODIAG 0.007927005179226398 +# param set-default CAL_MAG0_XOFF -0.03686671331524849 +# param set-default CAL_MAG0_XSCALE 1.0312585830688477 +# param set-default CAL_MAG0_YCOMP 0.0 +# param set-default CAL_MAG0_YODIAG 0.11644621938467026 +# param set-default CAL_MAG0_YOFF -0.09981687366962433 +# param set-default CAL_MAG0_YSCALE 0.9544093012809753 +# param set-default CAL_MAG0_ZCOMP 0.0 +# param set-default CAL_MAG0_ZODIAG -0.041557542979717255 +# param set-default CAL_MAG0_ZOFF -0.0370478630065918 +# param set-default CAL_MAG0_ZSCALE 1.0404322147369385 +# param set-default CAL_MAG1_ID 396321.0 +# param set-default CAL_MAG1_PRIO 50.0 +# param set-default CAL_MAG1_ROT -1.0 +# param set-default CAL_MAG1_XCOMP 0.0 +# param set-default CAL_MAG1_XODIAG -0.010065817274153233 +# param set-default CAL_MAG1_XOFF -0.08170519769191742 +# param set-default CAL_MAG1_XSCALE 0.9599488973617554 +# param set-default CAL_MAG1_YCOMP 0.0 +# param set-default CAL_MAG1_YODIAG -0.001702055335044861 +# param set-default CAL_MAG1_YOFF 0.10259006172418594 +# param set-default CAL_MAG1_YSCALE 1.0409091711044312 +# param set-default CAL_MAG1_ZCOMP 0.0 +# param set-default CAL_MAG1_ZODIAG -0.09199514240026474 +# param set-default CAL_MAG1_ZOFF 0.18442854285240173 +# param set-default CAL_MAG1_ZSCALE 1.0109553337097168 +# param set-default CAL_MAG2_ID 0.0 +# param set-default CAL_MAG2_ROT -1.0 +# param set-default CAL_MAG3_ID 0.0 +# param set-default CAL_MAG3_ROT -1.0 +# param set-default CAL_MAG_COMP_TYP 0.0 +# param set-default CAL_MAG_SIDES 63.0 +# param set-default CAM_CAP_FBACK 0.0 +param set-default CA_AIRFRAME 1.0 +param set-default CA_FAILURE_MODE 0.0 +param set-default CA_METHOD 2.0 +param set-default CA_R0_SLEW 0.0 +param set-default CA_R10_SLEW 0.0 +param set-default CA_R11_SLEW 0.0 +param set-default CA_R1_SLEW 0.0 +param set-default CA_R2_SLEW 0.0 +param set-default CA_R3_SLEW 0.0 +param set-default CA_R4_SLEW 0.0 +param set-default CA_R5_SLEW 0.0 +param set-default CA_R6_SLEW 0.0 +param set-default CA_R7_SLEW 0.0 +param set-default CA_R8_SLEW 0.0 +param set-default CA_R9_SLEW 0.0 +param set-default CA_ROTOR0_CT 6.5 +param set-default CA_ROTOR0_KM 0.05000000074505806 +param set-default CA_ROTOR0_PX 0.30000001192092896 +param set-default CA_ROTOR0_PY 0.0 +param set-default CA_ROTOR0_PZ 0.0 +param set-default CA_ROTOR10_CT 6.5 +param set-default CA_ROTOR10_KM 0.05000000074505806 +param set-default CA_ROTOR10_PX 0.0 +param set-default CA_ROTOR10_PY 0.0 +param set-default CA_ROTOR10_PZ 0.0 +param set-default CA_ROTOR11_CT 6.5 +param set-default CA_ROTOR11_KM 0.05000000074505806 +param set-default CA_ROTOR11_PX 0.0 +param set-default CA_ROTOR11_PY 0.0 +param set-default CA_ROTOR11_PZ 0.0 +param set-default CA_ROTOR1_CT 6.5 +param set-default CA_ROTOR1_KM 0.05000000074505806 +param set-default CA_ROTOR1_PX 0.0 +param set-default CA_ROTOR1_PY 0.0 +param set-default CA_ROTOR1_PZ 0.0 +param set-default CA_ROTOR2_CT 6.5 +param set-default CA_ROTOR2_KM 0.05000000074505806 +param set-default CA_ROTOR2_PX 0.0 +param set-default CA_ROTOR2_PY 0.0 +param set-default CA_ROTOR2_PZ 0.0 +param set-default CA_ROTOR3_CT 6.5 +param set-default CA_ROTOR3_KM 0.05000000074505806 +param set-default CA_ROTOR3_PX 0.0 +param set-default CA_ROTOR3_PY 0.0 +param set-default CA_ROTOR3_PZ 0.0 +param set-default CA_ROTOR4_CT 6.5 +param set-default CA_ROTOR4_KM 0.05000000074505806 +param set-default CA_ROTOR4_PX 0.0 +param set-default CA_ROTOR4_PY 0.0 +param set-default CA_ROTOR4_PZ 0.0 +param set-default CA_ROTOR5_CT 6.5 +param set-default CA_ROTOR5_KM 0.05000000074505806 +param set-default CA_ROTOR5_PX 0.0 +param set-default CA_ROTOR5_PY 0.0 +param set-default CA_ROTOR5_PZ 0.0 +param set-default CA_ROTOR6_CT 6.5 +param set-default CA_ROTOR6_KM 0.05000000074505806 +param set-default CA_ROTOR6_PX 0.0 +param set-default CA_ROTOR6_PY 0.0 +param set-default CA_ROTOR6_PZ 0.0 +param set-default CA_ROTOR7_CT 6.5 +param set-default CA_ROTOR7_KM 0.05000000074505806 +param set-default CA_ROTOR7_PX 0.0 +param set-default CA_ROTOR7_PY 0.0 +param set-default CA_ROTOR7_PZ 0.0 +param set-default CA_ROTOR8_CT 6.5 +param set-default CA_ROTOR8_KM 0.05000000074505806 +param set-default CA_ROTOR8_PX 0.0 +param set-default CA_ROTOR8_PY 0.0 +param set-default CA_ROTOR8_PZ 0.0 +param set-default CA_ROTOR9_CT 6.5 +param set-default CA_ROTOR9_KM 0.05000000074505806 +param set-default CA_ROTOR9_PX 0.0 +param set-default CA_ROTOR9_PY 0.0 +param set-default CA_ROTOR9_PZ 0.0 +param set-default CA_ROTOR_COUNT 1.0 +param set-default CA_R_REV 0.0 +param set-default CA_SV0_SLEW 0.0 +param set-default CA_SV1_SLEW 0.0 +param set-default CA_SV2_SLEW 0.0 +param set-default CA_SV3_SLEW 0.0 +param set-default CA_SV4_SLEW 0.0 +param set-default CA_SV5_SLEW 0.0 +param set-default CA_SV6_SLEW 0.0 +param set-default CA_SV7_SLEW 0.0 +param set-default CA_SV_CS0_FLAP 0.0 +param set-default CA_SV_CS0_SPOIL 0.0 +param set-default CA_SV_CS0_TRIM 0.0 +param set-default CA_SV_CS0_TRQ_P 0.0 +param set-default CA_SV_CS0_TRQ_R -0.5 +param set-default CA_SV_CS0_TRQ_Y 0.0 +param set-default CA_SV_CS0_TYPE 1.0 +param set-default CA_SV_CS1_FLAP 0.0 +param set-default CA_SV_CS1_SPOIL 0.0 +param set-default CA_SV_CS1_TRIM 0.0 +param set-default CA_SV_CS1_TRQ_P 0.0 +param set-default CA_SV_CS1_TRQ_R 0.5 +param set-default CA_SV_CS1_TRQ_Y 0.0 +param set-default CA_SV_CS1_TYPE 2.0 +param set-default CA_SV_CS2_FLAP 0.0 +param set-default CA_SV_CS2_SPOIL 0.0 +param set-default CA_SV_CS2_TRIM 0.0 +param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_R 0.0 +param set-default CA_SV_CS2_TRQ_Y 0.0 +param set-default CA_SV_CS2_TYPE 3.0 +param set-default CA_SV_CS3_FLAP 0.0 +param set-default CA_SV_CS3_SPOIL 0.0 +param set-default CA_SV_CS3_TRIM 0.0 +param set-default CA_SV_CS3_TRQ_P 0.0 +param set-default CA_SV_CS3_TRQ_R 0.0 +param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TYPE 4.0 +param set-default CA_SV_CS4_FLAP 0.0 +param set-default CA_SV_CS4_SPOIL 0.0 +param set-default CA_SV_CS4_TRIM 0.0 +param set-default CA_SV_CS4_TRQ_P 0.0 +param set-default CA_SV_CS4_TRQ_R 0.0 +param set-default CA_SV_CS4_TRQ_Y 0.0 +param set-default CA_SV_CS4_TYPE 0.0 +param set-default CA_SV_CS5_FLAP 0.0 +param set-default CA_SV_CS5_SPOIL 0.0 +param set-default CA_SV_CS5_TRIM 0.0 +param set-default CA_SV_CS5_TRQ_P 0.0 +param set-default CA_SV_CS5_TRQ_R 0.0 +param set-default CA_SV_CS5_TRQ_Y 0.0 +param set-default CA_SV_CS5_TYPE 0.0 +param set-default CA_SV_CS6_FLAP 0.0 +param set-default CA_SV_CS6_SPOIL 0.0 +param set-default CA_SV_CS6_TRIM 0.0 +param set-default CA_SV_CS6_TRQ_P 0.0 +param set-default CA_SV_CS6_TRQ_R 0.0 +param set-default CA_SV_CS6_TRQ_Y 0.0 +param set-default CA_SV_CS6_TYPE 0.0 +param set-default CA_SV_CS7_FLAP 0.0 +param set-default CA_SV_CS7_SPOIL 0.0 +param set-default CA_SV_CS7_TRIM 0.0 +param set-default CA_SV_CS7_TRQ_P 0.0 +param set-default CA_SV_CS7_TRQ_R 0.0 +param set-default CA_SV_CS7_TRQ_Y 0.0 +param set-default CA_SV_CS7_TYPE 0.0 +param set-default CA_SV_CS_COUNT 4.0 +# param set-default CBRK_AIRSPD_CHK 0.0 +# param set-default CBRK_BUZZER 0.0 +# param set-default CBRK_FLIGHTTERM 121212.0 +# param set-default CBRK_IO_SAFETY 22027.0 +# param set-default CBRK_SUPPLY_CHK 0.0 +# param set-default CBRK_USB_CHK 197848.0 +# param set-default CBRK_VTOLARMING 0.0 +param set-default COM_ACT_FAIL_ACT 0.0 +# param set-default COM_ARM_ARSP_EN 1.0 +param set-default COM_ARM_AUTH_ID 10.0 +param set-default COM_ARM_AUTH_MET 0.0 +param set-default COM_ARM_AUTH_REQ 0.0 +param set-default COM_ARM_AUTH_TO 1.0 +param set-default COM_ARM_CHK_ESCS 0.0 +# param set-default COM_ARM_EKF_HGT 1.0 +# param set-default COM_ARM_EKF_POS 0.5 +# param set-default COM_ARM_EKF_VEL 0.5 +# param set-default COM_ARM_EKF_YAW 0.5 +param set-default COM_ARM_HFLT_CHK 1.0 +param set-default COM_ARM_IMU_ACC 0.699999988079071 +param set-default COM_ARM_IMU_GYR 0.25 +param set-default COM_ARM_MAG_ANG -1.0 +param set-default COM_ARM_MAG_STR 0.0 +param set-default COM_ARM_MIS_REQ 0.0 +param set-default COM_ARM_SDCARD 1.0 +param set-default COM_ARM_SWISBTN 0.0 +param set-default COM_ARM_WO_GPS 1.0 +param set-default COM_CPU_MAX 95.0 +param set-default COM_DISARM_LAND 2.0 +param set-default COM_DISARM_PRFLT -1.0 +param set-default COM_DL_LOSS_T 10.0 +param set-default COM_FAIL_ACT_T 5.0 +param set-default COM_FLIGHT_UUID 108.0 +param set-default COM_FLTMODE1 0.0 +param set-default COM_FLTMODE2 -1.0 +param set-default COM_FLTMODE3 0.0 +param set-default COM_FLTMODE4 0.0 +param set-default COM_FLTMODE5 -1.0 +param set-default COM_FLTMODE6 7.0 +param set-default COM_FLT_PROFILE 0.0 +param set-default COM_FLT_TIME_MAX -1.0 +param set-default COM_FORCE_SAFETY 0.0 +param set-default COM_HLDL_LOSS_T 120.0 +param set-default COM_HLDL_REG_T 0.0 +param set-default COM_HOME_EN 1.0 +param set-default COM_HOME_IN_AIR 0.0 +param set-default COM_IMB_PROP_ACT 0.0 +param set-default COM_KILL_DISARM 5.0 +param set-default COM_LKDOWN_TKO 3.0 +param set-default COM_LOW_BAT_ACT 0.0 +param set-default COM_MOT_TEST_EN 1.0 +param set-default COM_OBC_LOSS_T 5.0 +param set-default COM_OBL_RC_ACT 0.0 +# param set-default COM_OBS_AVOID 0.0 +param set-default COM_OF_LOSS_T 1.0 +param set-default COM_PARACHUTE 0.0 +param set-default COM_POSCTL_NAVL 0.0 +# param set-default COM_POS_FS_DELAY 5.0 +param set-default COM_POS_FS_EPH 50.0 +param set-default COM_POS_LOW_EPH 50.0 +param set-default COM_POWER_COUNT 1.0 +param set-default COM_PREARM_MODE 0.0 +param set-default COM_QC_ACT 0.0 +param set-default COM_RCL_EXCEPT 0.0 +param set-default COM_RC_ARM_HYST 1000.0 +param set-default COM_RC_IN_MODE 3.0 +param set-default COM_RC_LOSS_T 0.5 +param set-default COM_RC_OVERRIDE 3.0 +param set-default COM_RC_STICK_OV 30.0 +param set-default COM_SPOOLUP_TIME 1.0 +param set-default COM_TAKEOFF_ACT 0.0 +param set-default COM_VEL_FS_EVH 5.0 +param set-default COM_WIND_MAX -1.0 +param set-default COM_WIND_WARN -1.0 +# param set-default DSHOT_3D_DEAD_H 1000.0 +# param set-default DSHOT_3D_DEAD_L 1000.0 +# param set-default DSHOT_3D_ENABLE 0.0 +# param set-default DSHOT_MIN 0.054999999701976776 +# param set-default DSHOT_TEL_CFG 0.0 +param set-default EKF2_ABIAS_INIT 0.20000000298023224 +param set-default EKF2_ABL_ACCLIM 25.0 +param set-default EKF2_ABL_GYRLIM 3.0 +param set-default EKF2_ABL_LIM 0.4000000059604645 +param set-default EKF2_ABL_TAU 0.5 +param set-default EKF2_ACC_B_NOISE 0.003000000026077032 +param set-default EKF2_ACC_NOISE 0.3499999940395355 +# param set-default EKF2_AID_MASK 0.0 +param set-default EKF2_ANGERR_INIT 0.10000000149011612 +param set-default EKF2_ARSP_THR 8.0 +param set-default EKF2_ASPD_MAX 20.0 +param set-default EKF2_ASP_DELAY 100.0 +param set-default EKF2_AVEL_DELAY 5.0 +param set-default EKF2_BARO_CTRL 1.0 +param set-default EKF2_BARO_DELAY 0.0 +param set-default EKF2_BARO_GATE 5.0 +param set-default EKF2_BARO_NOISE 3.5 +param set-default EKF2_BCOEF_X 100.0 +param set-default EKF2_BCOEF_Y 100.0 +param set-default EKF2_BETA_GATE 5.0 +param set-default EKF2_BETA_NOISE 0.30000001192092896 +param set-default EKF2_DECL_TYPE 7.0 +param set-default EKF2_DRAG_CTRL 0.0 +param set-default EKF2_DRAG_NOISE 2.5 +param set-default EKF2_EAS_NOISE 1.399999976158142 +param set-default EKF2_EVA_NOISE 0.10000000149011612 +param set-default EKF2_EVP_GATE 5.0 +param set-default EKF2_EVP_NOISE 0.10000000149011612 +param set-default EKF2_EVV_GATE 3.0 +param set-default EKF2_EVV_NOISE 0.10000000149011612 +param set-default EKF2_EV_CTRL 15.0 +param set-default EKF2_EV_DELAY 0.0 +param set-default EKF2_EV_NOISE_MD 0.0 +param set-default EKF2_EV_POS_X 0.0 +param set-default EKF2_EV_POS_Y 0.0 +param set-default EKF2_EV_POS_Z 0.0 +param set-default EKF2_EV_QMIN 0.0 +param set-default EKF2_FUSE_BETA 1.0 +param set-default EKF2_GBIAS_INIT 0.10000000149011612 +param set-default EKF2_GND_EFF_DZ 4.0 +param set-default EKF2_GND_MAX_HGT 0.5 +param set-default EKF2_GPS_CHECK 21.0 +param set-default EKF2_GPS_CTRL 7.0 +param set-default EKF2_GPS_DELAY 110.0 +param set-default EKF2_GPS_POS_X 0.0 +param set-default EKF2_GPS_POS_Y 0.0 +param set-default EKF2_GPS_POS_Z 0.0 +param set-default EKF2_GPS_P_GATE 5.0 +param set-default EKF2_GPS_P_NOISE 0.5 +param set-default EKF2_GPS_V_GATE 5.0 +param set-default EKF2_GPS_V_NOISE 0.30000001192092896 +param set-default EKF2_GRAV_NOISE 1.0 +param set-default EKF2_GSF_TAS 15.0 +param set-default EKF2_GYR_B_LIM 0.15000000596046448 +param set-default EKF2_GYR_B_NOISE 0.001000000047497451 +param set-default EKF2_GYR_NOISE 0.014999999664723873 +param set-default EKF2_HDG_GATE 2.5999999046325684 +param set-default EKF2_HEAD_NOISE 0.30000001192092896 +param set-default EKF2_HGT_REF 1.0 +param set-default EKF2_IMU_CTRL 3.0 +param set-default EKF2_IMU_POS_X 0.0 +param set-default EKF2_IMU_POS_Y 0.0 +param set-default EKF2_IMU_POS_Z 0.0 +param set-default EKF2_MAG_ACCLIM 0.0 +param set-default EKF2_MAG_B_NOISE 9.9999997473788e-05 +param set-default EKF2_MAG_CHECK 1.0 +param set-default EKF2_MAG_DECL -1.4825373888015747 +param set-default EKF2_MAG_DELAY 0.0 +param set-default EKF2_MAG_E_NOISE 0.001000000047497451 +param set-default EKF2_MAG_GATE 3.0 +param set-default EKF2_MAG_NOISE 0.05000000074505806 +param set-default EKF2_MAG_TYPE 0.0 +# param set-default EKF2_MAG_YAWLIM 0.0 +param set-default EKF2_MCOEF 0.15000000596046448 +param set-default EKF2_MIN_RNG 0.10000000149011612 +param set-default EKF2_MULTI_IMU 3.0 +param set-default EKF2_NOAID_NOISE 10.0 +param set-default EKF2_NOAID_TOUT 5000000.0 +param set-default EKF2_OF_CTRL 0.0 +param set-default EKF2_OF_DELAY 20.0 +param set-default EKF2_OF_GATE 3.0 +param set-default EKF2_OF_N_MAX 0.5 +param set-default EKF2_OF_N_MIN 0.15000000596046448 +param set-default EKF2_OF_POS_X 0.0 +param set-default EKF2_OF_POS_Y 0.0 +param set-default EKF2_OF_POS_Z 0.0 +param set-default EKF2_OF_QMIN 1.0 +param set-default EKF2_OF_QMIN_GND 0.0 +param set-default EKF2_PCOEF_XN 0.0 +param set-default EKF2_PCOEF_XP 0.0 +param set-default EKF2_PCOEF_YN 0.0 +param set-default EKF2_PCOEF_YP 0.0 +param set-default EKF2_PCOEF_Z 0.0 +param set-default EKF2_PREDICT_US 10000.0 +param set-default EKF2_REQ_EPH 10.0 +param set-default EKF2_REQ_EPV 10.0 +param set-default EKF2_REQ_GPS_H 10.0 +param set-default EKF2_REQ_HDRIFT 0.5 +param set-default EKF2_REQ_NSATS 6.0 +param set-default EKF2_REQ_PDOP 2.5 +param set-default EKF2_REQ_SACC 1.0 +param set-default EKF2_REQ_VDRIFT 1.0 +param set-default EKF2_RNG_A_HMAX 5.0 +param set-default EKF2_RNG_A_IGATE 1.0 +param set-default EKF2_RNG_A_VMAX 1.0 +param set-default EKF2_RNG_CTRL 1.0 +param set-default EKF2_RNG_DELAY 5.0 +param set-default EKF2_RNG_GATE 5.0 +param set-default EKF2_RNG_K_GATE 1.0 +param set-default EKF2_RNG_NOISE 0.10000000149011612 +param set-default EKF2_RNG_PITCH 0.0 +param set-default EKF2_RNG_POS_X 0.0 +param set-default EKF2_RNG_POS_Y 0.0 +param set-default EKF2_RNG_POS_Z 0.0 +param set-default EKF2_RNG_QLTY_T 1.0 +param set-default EKF2_RNG_SFE 0.05000000074505806 +param set-default EKF2_SEL_ERR_RED 0.20000000298023224 +param set-default EKF2_SEL_IMU_ACC 1.0 +param set-default EKF2_SEL_IMU_ANG 15.0 +param set-default EKF2_SEL_IMU_RAT 7.0 +param set-default EKF2_SEL_IMU_VEL 2.0 +param set-default EKF2_SYNT_MAG_Z 0.0 +param set-default EKF2_TAS_GATE 3.0 +param set-default EKF2_TAU_POS 0.25 +param set-default EKF2_TAU_VEL 0.25 +param set-default EKF2_TERR_GRAD 0.5 +# param set-default EKF2_TERR_MASK 3.0 +param set-default EKF2_TERR_NOISE 5.0 +param set-default EKF2_WIND_NSD 0.009999999776482582 +param set-default EV_TSK_RC_LOSS 0.0 +param set-default EV_TSK_STAT_DIS 0.0 +param set-default FD_ACT_EN 1.0 +param set-default FD_ACT_MOT_C2T 2.0 +param set-default FD_ACT_MOT_THR 0.20000000298023224 +param set-default FD_ACT_MOT_TOUT 100.0 +param set-default FD_ESCS_EN 1.0 +param set-default FD_EXT_ATS_EN 0.0 +param set-default FD_EXT_ATS_TRIG 1900.0 +param set-default FD_FAIL_P 60.0 +param set-default FD_FAIL_P_TTRI 0.30000001192092896 +param set-default FD_FAIL_R 60.0 +param set-default FD_FAIL_R_TTRI 0.30000001192092896 +param set-default FD_IMB_PROP_THR 30.0 +param set-default FW_ACRO_X_MAX 90.0 +param set-default FW_ACRO_Y_MAX 90.0 +param set-default FW_ACRO_Z_MAX 45.0 +param set-default FW_AIRSPD_MAX 20.0 +param set-default FW_AIRSPD_MIN 10.0 +param set-default FW_AIRSPD_STALL 7.0 +param set-default FW_AIRSPD_TRIM 15.0 +# param set-default FW_ARSP_MODE 0.0 +param set-default FW_ARSP_SCALE_EN 1.0 +param set-default FW_AT_APPLY 2.0 +param set-default FW_AT_AXES 3.0 +param set-default FW_AT_MAN_AUX 0.0 +param set-default FW_AT_START 0.0 +param set-default FW_AT_SYSID_AMP 1.0 +param set-default FW_BAT_SCALE_EN 0.0 +param set-default FW_DTRIM_P_VMAX 0.0 +param set-default FW_DTRIM_P_VMIN 0.0 +param set-default FW_DTRIM_R_VMAX 0.0 +param set-default FW_DTRIM_R_VMIN 0.0 +param set-default FW_DTRIM_Y_VMAX 0.0 +param set-default FW_DTRIM_Y_VMIN 0.0 +param set-default FW_FLAPS_LND_SCL 1.0 +param set-default FW_FLAPS_TO_SCL 0.0 +param set-default FW_GND_SPD_MIN 5.0 +param set-default FW_GPSF_LT 30.0 +param set-default FW_GPSF_R 15.0 +param set-default FW_LAUN_AC_T 0.05000000074505806 +param set-default FW_LAUN_AC_THLD 15.0 +param set-default FW_LAUN_DETCN_ON 1.0 +param set-default FW_LAUN_MOT_DEL 0.0 +param set-default FW_LND_ABORT 3.0 +param set-default FW_LND_AIRSPD -1.0 +param set-default FW_LND_ANG 5.0 +param set-default FW_LND_EARLYCFG 0.0 +param set-default FW_LND_FLALT 0.5 +param set-default FW_LND_FL_PMAX 15.0 +param set-default FW_LND_FL_PMIN 2.5 +param set-default FW_LND_FL_SINK 0.25 +param set-default FW_LND_FL_TIME 1.0 +param set-default FW_LND_NUDGE 2.0 +param set-default FW_LND_TD_OFF 3.0 +param set-default FW_LND_TD_TIME -1.0 +param set-default FW_LND_THRTC_SC 1.0 +param set-default FW_LND_USETER 1.0 +param set-default FW_MAN_P_MAX 30.0 +param set-default FW_MAN_P_SC 1.0 +param set-default FW_MAN_R_MAX 45.0 +param set-default FW_MAN_R_SC 1.0 +param set-default FW_MAN_Y_SC 1.0 +param set-default FW_PN_R_SLEW_MAX 90.0 +param set-default FW_POS_STK_CONF 2.0 +param set-default FW_PR_D 0.0 +param set-default FW_PR_FF 0.5 +param set-default FW_PR_I 0.10000000149011612 +param set-default FW_PR_IMAX 0.4000000059604645 +param set-default FW_PR_P 0.07999999821186066 +param set-default FW_PSP_OFF 0.0 +param set-default FW_P_LIM_MAX 30.0 +param set-default FW_P_LIM_MIN -30.0 +param set-default FW_P_RMAX_NEG 60.0 +param set-default FW_P_RMAX_POS 60.0 +param set-default FW_P_TC 0.4000000059604645 +param set-default FW_RLL_TO_YAW_FF 0.0 +param set-default FW_RR_D 0.0 +param set-default FW_RR_FF 0.5 +param set-default FW_RR_I 0.10000000149011612 +param set-default FW_RR_IMAX 0.20000000298023224 +param set-default FW_RR_P 0.05000000074505806 +param set-default FW_R_LIM 50.0 +param set-default FW_R_RMAX 70.0 +param set-default FW_R_TC 0.4000000059604645 +# param set-default FW_SPOILERS_DESC 0.0 +param set-default FW_SPOILERS_LND 0.0 +param set-default FW_SPOILERS_MAN 0.0 +param set-default FW_THR_ASPD_MAX 0.0 +param set-default FW_THR_ASPD_MIN 0.0 +param set-default FW_THR_IDLE 0.0 +param set-default FW_THR_MAX 1.0 +param set-default FW_THR_MIN 0.0 +param set-default FW_THR_SLEW_MAX 0.0 +param set-default FW_THR_TRIM 0.6000000238418579 +param set-default FW_TKO_AIRSPD -1.0 +param set-default FW_TKO_PITCH_MIN 5.0 +param set-default FW_T_ALT_TC 5.0 +param set-default FW_T_CLMB_MAX 1.0 +param set-default FW_T_CLMB_R_SP 0.5 +param set-default FW_T_HRATE_FF 0.30000001192092896 +param set-default FW_T_I_GAIN_PIT 0.10000000149011612 +# param set-default FW_T_I_GAIN_THR 0.05000000074505806 +param set-default FW_T_PTCH_DAMP 0.10000000149011612 +param set-default FW_T_RLL2THR 15.0 +param set-default FW_T_SEB_R_FF 1.0 +param set-default FW_T_SINK_MAX 5.0 +param set-default FW_T_SINK_MIN 2.0 +param set-default FW_T_SINK_R_SP 2.0 +param set-default FW_T_SPDWEIGHT 1.0 +param set-default FW_T_SPD_DEV_STD 0.20000000298023224 +param set-default FW_T_SPD_PRC_STD 0.20000000298023224 +param set-default FW_T_SPD_STD 0.20000000298023224 +param set-default FW_T_STE_R_TC 0.4000000059604645 +param set-default FW_T_TAS_TC 5.0 +# param set-default FW_T_THR_DAMP 0.10000000149011612 +param set-default FW_T_VERT_ACC 2.0 +param set-default FW_WIND_ARSP_SC 0.0 +param set-default FW_WING_HEIGHT 0.5 +param set-default FW_WING_SPAN 3.0 +param set-default FW_WR_FF 0.20000000298023224 +param set-default FW_WR_I 0.10000000149011612 +param set-default FW_WR_IMAX 0.4000000059604645 +param set-default FW_WR_P 0.5 +param set-default FW_W_EN 0.0 +param set-default FW_W_RMAX 30.0 +param set-default FW_YR_D 0.0 +param set-default FW_YR_FF 0.30000001192092896 +param set-default FW_YR_I 0.10000000149011612 +param set-default FW_YR_IMAX 0.20000000298023224 +param set-default FW_YR_P 0.05000000074505806 +param set-default FW_Y_RMAX 50.0 +param set-default GF_ACTION 2.0 +# param set-default GF_ALTMODE 0.0 +# param set-default GF_COUNT -1.0 +param set-default GF_MAX_HOR_DIST 0.0 +param set-default GF_MAX_VER_DIST 0.0 +param set-default GF_PREDICT 0.0 +param set-default GF_SOURCE 0.0 +param set-default GND_SPEED_THR_SC 1.0 +# param set-default GPS_1_CONFIG 0.0 +# param set-default GPS_2_CONFIG 0.0 +param set-default GPS_UBX_DYNMODEL 8.0 +param set-default IMU_ACCEL_CUTOFF 30.0 +param set-default IMU_DGYRO_CUTOFF 30.0 +param set-default IMU_GYRO_CAL_EN 1.0 +param set-default IMU_GYRO_CUTOFF 40.0 +param set-default IMU_GYRO_DNF_BW 15.0 +param set-default IMU_GYRO_DNF_EN 0.0 +param set-default IMU_GYRO_DNF_HMC 3.0 +param set-default IMU_GYRO_DNF_MIN 25.0 +param set-default IMU_GYRO_FFT_EN 1.0 +param set-default IMU_GYRO_FFT_LEN 512.0 +param set-default IMU_GYRO_FFT_MAX 150.0 +param set-default IMU_GYRO_FFT_MIN 30.0 +param set-default IMU_GYRO_FFT_SNR 10.0 +param set-default IMU_GYRO_NF0_BW 20.0 +param set-default IMU_GYRO_NF0_FRQ 0.0 +param set-default IMU_GYRO_NF1_BW 20.0 +param set-default IMU_GYRO_NF1_FRQ 0.0 +param set-default IMU_GYRO_RATEMAX 400.0 +param set-default IMU_INTEG_RATE 200.0 +param set-default LNDFW_AIRSPD_MAX 6.0 +param set-default LNDFW_TRIG_TIME 2.0 +param set-default LNDFW_VEL_XY_MAX 5.0 +param set-default LNDFW_VEL_Z_MAX 1.0 +param set-default LNDFW_XYACC_MAX 8.0 +# param set-default LNDMC_ALT_MAX -1.0 +param set-default LND_FLIGHT_T_HI 0.0 +param set-default LND_FLIGHT_T_LO 870469358.0 +param set-default MAN_ARM_GESTURE 0.0 +# param set-default MAV_0_CONFIG 101.0 +param set-default MAV_0_FLOW_CTRL 2.0 +param set-default MAV_0_FORWARD 1.0 +param set-default MAV_0_MODE 0.0 +param set-default MAV_0_RADIO_CTL 1.0 +param set-default MAV_0_RATE 1200.0 +# param set-default MAV_1_CONFIG 102.0 +param set-default MAV_1_FLOW_CTRL 0.0 +param set-default MAV_1_FORWARD 0.0 +param set-default MAV_1_MODE 2.0 +param set-default MAV_1_RADIO_CTL 1.0 +param set-default MAV_1_RATE 0.0 +# param set-default MAV_2_CONFIG 0.0 +param set-default MAV_COMP_ID 1.0 +param set-default MAV_FWDEXTSP 1.0 +param set-default MAV_HASH_CHK_EN 1.0 +param set-default MAV_HB_FORW_EN 1.0 +param set-default MAV_PROTO_VER 0.0 +param set-default MAV_RADIO_TOUT 5.0 +param set-default MAV_SIK_RADIO_ID 0.0 +param set-default MAV_SYS_ID 1.0 +param set-default MAV_TYPE 1.0 +param set-default MAV_USEHILGPS 0.0 +param set-default MBE_ENABLE 1.0 +param set-default MBE_LEARN_GAIN 18.0 +param set-default MC_AIRMODE 0.0 +param set-default MC_AT_EN 1.0 +param set-default MIS_DIST_1WP 900.0 +param set-default MIS_LND_ABRT_ALT 30.0 +param set-default MIS_MNT_YAW_CTL 0.0 +# param set-default MIS_PD_TO 5.0 +param set-default MIS_TAKEOFF_ALT 15.0 +param set-default MIS_TKO_LAND_REQ 0.0 +param set-default MIS_YAW_ERR 12.0 +param set-default MIS_YAW_TMT -1.0 +param set-default MNT_MODE_IN -1.0 +# param set-default MOT_POLE_COUNT 14.0 +# param set-default MOT_SLEW_MAX 0.0 +param set-default MPC_ACC_DOWN_MAX 3.0 +param set-default MPC_ACC_HOR 3.0 +param set-default MPC_ACC_HOR_MAX 5.0 +param set-default MPC_ACC_UP_MAX 4.0 +param set-default MPC_JERK_AUTO 4.0 +param set-default MPC_JERK_MAX 8.0 +param set-default MPC_LAND_SPEED 0.699999988079071 +param set-default MPC_XY_CRUISE 5.0 +param set-default MPC_Z_V_AUTO_DN 1.5 +param set-default MPC_Z_V_AUTO_UP 3.0 +param set-default NAV_ACC_RAD 10.0 +param set-default NAV_DLL_ACT 0.0 +param set-default NAV_FORCE_VT 1.0 +param set-default NAV_FW_ALTL_RAD 5.0 +param set-default NAV_FW_ALT_RAD 10.0 +param set-default NAV_LOITER_RAD 80.0 +param set-default NAV_MC_ALT_RAD 0.800000011920929 +param set-default NAV_MIN_LTR_ALT -1.0 +param set-default NAV_RCL_ACT 1.0 +param set-default NAV_TRAFF_AVOID 1.0 +param set-default NAV_TRAFF_A_HOR 500.0 +param set-default NAV_TRAFF_A_VER 500.0 +param set-default NAV_TRAFF_COLL_T 60.0 +param set-default NPFG_DAMPING 0.699999988079071 +param set-default NPFG_EN_MIN_GSP 1.0 +param set-default NPFG_GSP_MAX_TK 5.0 +param set-default NPFG_LB_PERIOD 1.0 +param set-default NPFG_PERIOD 10.0 +param set-default NPFG_PERIOD_SF 1.5 +param set-default NPFG_ROLL_TC 0.5 +param set-default NPFG_SW_DST_MLT 0.3199999928474426 +param set-default NPFG_TRACK_KEEP 1.0 +param set-default NPFG_UB_PERIOD 1.0 +param set-default NPFG_WIND_REG 1.0 +param set-default PLD_BTOUT 5.0 +param set-default PLD_FAPPR_ALT 0.10000000149011612 +param set-default PLD_HACC_RAD 0.20000000298023224 +param set-default PLD_MAX_SRCH 3.0 +param set-default PLD_SRCH_ALT 10.0 +param set-default PLD_SRCH_TOUT 10.0 +# param set-default PWM_AUX_DIS1 1000.0 +# param set-default PWM_AUX_DIS2 1000.0 +# param set-default PWM_AUX_DIS3 1000.0 +# param set-default PWM_AUX_DIS4 1000.0 +# param set-default PWM_AUX_DIS5 1000.0 +# param set-default PWM_AUX_DIS6 1000.0 +# param set-default PWM_AUX_DIS7 1000.0 +# param set-default PWM_AUX_DIS8 1000.0 +# param set-default PWM_AUX_FAIL1 -1.0 +# param set-default PWM_AUX_FAIL2 -1.0 +# param set-default PWM_AUX_FAIL3 -1.0 +# param set-default PWM_AUX_FAIL4 -1.0 +# param set-default PWM_AUX_FAIL5 -1.0 +# param set-default PWM_AUX_FAIL6 -1.0 +# param set-default PWM_AUX_FAIL7 -1.0 +# param set-default PWM_AUX_FAIL8 -1.0 +# param set-default PWM_AUX_FUNC1 0.0 +# param set-default PWM_AUX_FUNC2 0.0 +# param set-default PWM_AUX_FUNC3 0.0 +# param set-default PWM_AUX_FUNC4 0.0 +# param set-default PWM_AUX_FUNC5 0.0 +# param set-default PWM_AUX_FUNC6 0.0 +# param set-default PWM_AUX_FUNC7 0.0 +# param set-default PWM_AUX_FUNC8 0.0 +# param set-default PWM_AUX_MAX1 2000.0 +# param set-default PWM_AUX_MAX2 2000.0 +# param set-default PWM_AUX_MAX3 2000.0 +# param set-default PWM_AUX_MAX4 2000.0 +# param set-default PWM_AUX_MAX5 2000.0 +# param set-default PWM_AUX_MAX6 2000.0 +# param set-default PWM_AUX_MAX7 2000.0 +# param set-default PWM_AUX_MAX8 1900.0 +# param set-default PWM_AUX_MIN1 1000.0 +# param set-default PWM_AUX_MIN2 1000.0 +# param set-default PWM_AUX_MIN3 1000.0 +# param set-default PWM_AUX_MIN4 1000.0 +# param set-default PWM_AUX_MIN5 1000.0 +# param set-default PWM_AUX_MIN6 1000.0 +# param set-default PWM_AUX_MIN7 1000.0 +# param set-default PWM_AUX_MIN8 1100.0 +# param set-default PWM_AUX_REV 0.0 +# param set-default PWM_AUX_TIM0 100.0 +# param set-default PWM_AUX_TIM1 400.0 +# param set-default PWM_AUX_TIM2 400.0 +# param set-default PWM_MAIN_DIS1 1000.0 +# param set-default PWM_MAIN_DIS2 1000.0 +# param set-default PWM_MAIN_DIS3 1000.0 +# param set-default PWM_MAIN_DIS4 1000.0 +# param set-default PWM_MAIN_DIS5 1000.0 +# param set-default PWM_MAIN_DIS6 1000.0 +# param set-default PWM_MAIN_DIS7 1000.0 +# param set-default PWM_MAIN_DIS8 1000.0 +# param set-default PWM_MAIN_FAIL1 -1.0 +# param set-default PWM_MAIN_FAIL2 -1.0 +# param set-default PWM_MAIN_FAIL3 -1.0 +# param set-default PWM_MAIN_FAIL4 -1.0 +# param set-default PWM_MAIN_FAIL5 -1.0 +# param set-default PWM_MAIN_FAIL6 -1.0 +# param set-default PWM_MAIN_FAIL7 -1.0 +# param set-default PWM_MAIN_FAIL8 -1.0 +# param set-default PWM_MAIN_FUNC1 201.0 +# param set-default PWM_MAIN_FUNC2 202.0 +# param set-default PWM_MAIN_FUNC3 203.0 +# param set-default PWM_MAIN_FUNC4 204.0 +# param set-default PWM_MAIN_FUNC5 0.0 +# param set-default PWM_MAIN_FUNC6 0.0 +# param set-default PWM_MAIN_FUNC7 0.0 +# param set-default PWM_MAIN_FUNC8 101.0 +# param set-default PWM_MAIN_MAX1 2000.0 +# param set-default PWM_MAIN_MAX2 2000.0 +# param set-default PWM_MAIN_MAX3 2000.0 +# param set-default PWM_MAIN_MAX4 2000.0 +# param set-default PWM_MAIN_MAX5 2000.0 +# param set-default PWM_MAIN_MAX6 2000.0 +# param set-default PWM_MAIN_MAX7 2000.0 +# param set-default PWM_MAIN_MAX8 1900.0 +# param set-default PWM_MAIN_MIN1 1000.0 +# param set-default PWM_MAIN_MIN2 1000.0 +# param set-default PWM_MAIN_MIN3 1000.0 +# param set-default PWM_MAIN_MIN4 1000.0 +# param set-default PWM_MAIN_MIN5 1000.0 +# param set-default PWM_MAIN_MIN6 1000.0 +# param set-default PWM_MAIN_MIN7 1000.0 +# param set-default PWM_MAIN_MIN8 1100.0 +param set-default PWM_MAIN_REV 1.0 +# param set-default PWM_MAIN_TIM0 50.0 +# param set-default PWM_MAIN_TIM1 50.0 +# param set-default PWM_MAIN_TIM2 400.0 +# param set-default PWM_SBUS_MODE 0.0 +param set-default RC10_DZ 0.0 +param set-default RC10_MAX 2000.0 +param set-default RC10_MIN 1000.0 +param set-default RC10_REV 1.0 +param set-default RC10_TRIM 1500.0 +param set-default RC11_DZ 0.0 +param set-default RC11_MAX 2000.0 +param set-default RC11_MIN 1000.0 +param set-default RC11_REV 1.0 +param set-default RC11_TRIM 1500.0 +param set-default RC12_DZ 0.0 +param set-default RC12_MAX 2000.0 +param set-default RC12_MIN 1000.0 +param set-default RC12_REV 1.0 +param set-default RC12_TRIM 1500.0 +param set-default RC13_DZ 0.0 +param set-default RC13_MAX 2000.0 +param set-default RC13_MIN 1000.0 +param set-default RC13_REV 1.0 +param set-default RC13_TRIM 1500.0 +param set-default RC14_DZ 0.0 +param set-default RC14_MAX 2000.0 +param set-default RC14_MIN 1000.0 +param set-default RC14_REV 1.0 +param set-default RC14_TRIM 1500.0 +param set-default RC15_DZ 0.0 +param set-default RC15_MAX 2000.0 +param set-default RC15_MIN 1000.0 +param set-default RC15_REV 1.0 +param set-default RC15_TRIM 1500.0 +param set-default RC16_DZ 0.0 +param set-default RC16_MAX 2000.0 +param set-default RC16_MIN 1000.0 +param set-default RC16_REV 1.0 +param set-default RC16_TRIM 1500.0 +param set-default RC17_DZ 0.0 +param set-default RC17_MAX 2000.0 +param set-default RC17_MIN 1000.0 +param set-default RC17_REV 1.0 +param set-default RC17_TRIM 1500.0 +param set-default RC18_DZ 0.0 +param set-default RC18_MAX 2000.0 +param set-default RC18_MIN 1000.0 +param set-default RC18_REV 1.0 +param set-default RC18_TRIM 1500.0 +param set-default RC1_DZ 10.0 +param set-default RC1_MAX 2006.0 +param set-default RC1_MIN 982.0 +param set-default RC1_REV 1.0 +param set-default RC1_TRIM 982.0 +param set-default RC2_DZ 10.0 +param set-default RC2_MAX 2006.0 +param set-default RC2_MIN 982.0 +param set-default RC2_REV 1.0 +param set-default RC2_TRIM 1487.0 +param set-default RC3_DZ 10.0 +param set-default RC3_MAX 2006.0 +param set-default RC3_MIN 982.0 +param set-default RC3_REV 1.0 +param set-default RC3_TRIM 1492.0 +param set-default RC4_DZ 10.0 +param set-default RC4_MAX 1975.0 +param set-default RC4_MIN 982.0 +param set-default RC4_REV 1.0 +param set-default RC4_TRIM 1489.0 +param set-default RC5_DZ 10.0 +param set-default RC5_MAX 2006.0 +param set-default RC5_MIN 982.0 +param set-default RC5_REV 1.0 +param set-default RC5_TRIM 1494.0 +param set-default RC6_DZ 10.0 +param set-default RC6_MAX 2006.0 +param set-default RC6_MIN 982.0 +param set-default RC6_REV 1.0 +param set-default RC6_TRIM 1494.0 +param set-default RC7_DZ 10.0 +param set-default RC7_MAX 2000.0 +param set-default RC7_MIN 1000.0 +param set-default RC7_REV 1.0 +param set-default RC7_TRIM 1500.0 +param set-default RC8_DZ 10.0 +param set-default RC8_MAX 2000.0 +param set-default RC8_MIN 1000.0 +param set-default RC8_REV 1.0 +param set-default RC8_TRIM 1500.0 +param set-default RC9_DZ 0.0 +param set-default RC9_MAX 2000.0 +param set-default RC9_MIN 1000.0 +param set-default RC9_REV 1.0 +param set-default RC9_TRIM 1500.0 +param set-default RC_ARMSWITCH_TH 0.75 +param set-default RC_CHAN_CNT 18.0 +param set-default RC_ENG_MOT_TH 0.75 +param set-default RC_FAILS_THR 0.0 +param set-default RC_GEAR_TH 0.75 +param set-default RC_KILLSWITCH_TH 0.75 +param set-default RC_LOITER_TH 0.75 +# param set-default RC_MAP_ACRO_SW 0.0 +param set-default RC_MAP_ARM_SW 5.0 +param set-default RC_MAP_AUX1 0.0 +param set-default RC_MAP_AUX2 0.0 +param set-default RC_MAP_AUX3 0.0 +param set-default RC_MAP_AUX4 0.0 +param set-default RC_MAP_AUX5 5.0 +param set-default RC_MAP_AUX6 0.0 +param set-default RC_MAP_ENG_MOT 0.0 +param set-default RC_MAP_FAILSAFE 0.0 +param set-default RC_MAP_FLAPS 0.0 +param set-default RC_MAP_FLTMODE 7.0 +param set-default RC_MAP_FLTM_BTN 0.0 +param set-default RC_MAP_GEAR_SW 0.0 +param set-default RC_MAP_KILL_SW 6.0 +param set-default RC_MAP_LOITER_SW 0.0 +# param set-default RC_MAP_MAN_SW 0.0 +param set-default RC_MAP_MODE_SW 0.0 +param set-default RC_MAP_OFFB_SW 0.0 +param set-default RC_MAP_PARAM1 0.0 +param set-default RC_MAP_PARAM2 0.0 +param set-default RC_MAP_PARAM3 0.0 +param set-default RC_MAP_PITCH 3.0 +# param set-default RC_MAP_POSCTL_SW 0.0 +# param set-default RC_MAP_RATT_SW 0.0 +param set-default RC_MAP_RETURN_SW 0.0 +param set-default RC_MAP_ROLL 2.0 +# param set-default RC_MAP_STAB_SW 0.0 +param set-default RC_MAP_THROTTLE 1.0 +param set-default RC_MAP_TRANS_SW 0.0 +param set-default RC_MAP_YAW 4.0 +param set-default RC_OFFB_TH 0.75 +param set-default RC_RETURN_TH 0.75 +param set-default RC_RSSI_PWM_CHAN 0.0 +param set-default RC_RSSI_PWM_MAX 2000.0 +param set-default RC_RSSI_PWM_MIN 1000.0 +param set-default RC_TRANS_TH 0.75 +param set-default RTL_CONE_ANG 45.0 +param set-default RTL_DESCEND_ALT 40.0 +# param set-default RTL_HDG_MD 0.0 +param set-default RTL_LAND_DELAY -1.0 +param set-default RTL_LOITER_RAD 80.0 +param set-default RTL_MIN_DIST 10.0 +param set-default RTL_PLD_MD 0.0 +param set-default RTL_RETURN_ALT 40.0 +param set-default RTL_TIME_FACTOR 1.100000023841858 +param set-default RTL_TIME_MARGIN 100.0 +param set-default RTL_TYPE 1.0 +param set-default RWTO_HDG 0.0 +param set-default RWTO_MAX_THR 1.0 +param set-default RWTO_NPFG_PERIOD 5.0 +param set-default RWTO_NUDGE 0.0 +param set-default RWTO_PSP 0.0 +param set-default RWTO_RAMP_TIME 2.0 +param set-default RWTO_ROT_AIRSPD -1.0 +param set-default RWTO_ROT_TIME 1.0 +param set-default RWTO_TKOFF 0.0 +param set-default SDLOG_BOOT_BAT 0.0 +param set-default SDLOG_DIRS_MAX 0.0 +param set-default SDLOG_MISSION 0.0 +param set-default SDLOG_MODE 0.0 +param set-default SDLOG_PROFILE 1.0 +param set-default SDLOG_UTC_OFFSET 0.0 +param set-default SDLOG_UUID 1.0 +param set-default SENS_BARO_QNH 1013.25 +param set-default SENS_BARO_RATE 20.0 +param set-default SENS_BOARD_ROT 0.0 #in simulation the Board is allways facing frontwards (YAW 0 deg) +param set-default SENS_BOARD_X_OFF 2.5029470920562744 +param set-default SENS_BOARD_Y_OFF 5.299503326416016 +param set-default SENS_BOARD_Z_OFF 0.0 +# param set-default SENS_CM8JL65_CFG 0.0 +param set-default SENS_DPRES_OFF 106.99533081054688 +# param set-default SENS_EN_BATT 0.0 +# param set-default SENS_EN_LL40LS 0.0 +# param set-default SENS_EN_MB12XX 0.0 +# param set-default SENS_EN_MPDT 0.0 +# param set-default SENS_EN_MS4525DO 1.0 +# param set-default SENS_EN_MS5525DS 0.0 +# param set-default SENS_EN_PAA3905 0.0 +# param set-default SENS_EN_PAW3902 0.0 +# param set-default SENS_EN_PGA460 0.0 +# param set-default SENS_EN_PMW3901 0.0 +# param set-default SENS_EN_PX4FLOW 0.0 +# param set-default SENS_EN_SDP3X 0.0 +# param set-default SENS_EN_SF1XX 0.0 +# param set-default SENS_EN_TF02PRO 0.0 +param set-default SENS_EN_THERMAL -1.0 +# param set-default SENS_EN_TRANGER 0.0 +# param set-default SENS_EN_VL53L0X 0.0 +# param set-default SENS_EN_VL53L1X 0.0 +param set-default SENS_EXT_I2C_PRB 1.0 +param set-default SENS_GPS_MASK 7.0 +param set-default SENS_GPS_PRIME 0.0 +param set-default SENS_GPS_TAU 10.0 +param set-default SENS_IMU_AUTOCAL 1.0 +param set-default SENS_IMU_MODE 0.0 +# param set-default SENS_LEDDAR1_CFG 0.0 +param set-default SENS_MAG_AUTOCAL 1.0 +param set-default SENS_MAG_AUTOROT 1.0 +param set-default SENS_MAG_MODE 1.0 +param set-default SENS_MAG_RATE 15.0 +param set-default SENS_MAG_SIDES 63.0 +# param set-default SENS_SF0X_CFG 0.0 +# param set-default SENS_TFLOW_CFG 0.0 +# param set-default SENS_TFMINI_CFG 0.0 +# param set-default SENS_ULAND_CFG 0.0 +# param set-default SENS_VN_CFG 0.0 +# param set-default SER_TEL1_BAUD 57600.0 +# param set-default SER_TEL2_BAUD 115200.0 +param set-default SYS_AUTOCONFIG 0.0 +param set-default SYS_AUTOSTART 2100.0 +param set-default SYS_CAL_ACCEL 0.0 +param set-default SYS_CAL_BARO 0.0 +param set-default SYS_CAL_GYRO 0.0 +param set-default SYS_CAL_TDEL 24.0 +param set-default SYS_CAL_TMAX 10.0 +param set-default SYS_CAL_TMIN 5.0 +param set-default SYS_DM_BACKEND 0.0 +param set-default SYS_FAC_CAL_MODE 0.0 +param set-default SYS_FAILURE_EN 0.0 +param set-default SYS_HAS_BARO 1.0 +param set-default SYS_HAS_GPS 1.0 +param set-default SYS_HAS_MAG 1.0 +param set-default SYS_HAS_NUM_DIST 0.0 +param set-default SYS_HITL 0.0 +# param set-default SYS_MC_EST_GROUP 2.0 +param set-default SYS_RGB_MAXBRT 1.0 +param set-default SYS_STCK_EN 1.0 +param set-default TC_A_ENABLE 0.0 +param set-default TC_B_ENABLE 0.0 +param set-default TC_G_ENABLE 0.0 +# param set-default TEL_BST_EN 0.0 +# param set-default TEL_FRSKY_CONFIG 0.0 +# param set-default TEL_HOTT_CONFIG 0.0 +param set-default THR_MDL_FAC 0.0 +param set-default TRIG_MODE 0.0 +param set-default TRIM_PITCH 0.0 +param set-default TRIM_ROLL 0.0 +param set-default TRIM_YAW 0.0 +# param set-default UAVCAN_BITRATE 1000000.0 +# param set-default UAVCAN_EC_FAIL1 -1.0 +# param set-default UAVCAN_EC_FAIL2 -1.0 +# param set-default UAVCAN_EC_FAIL3 -1.0 +# param set-default UAVCAN_EC_FAIL4 -1.0 +# param set-default UAVCAN_EC_FAIL5 -1.0 +# param set-default UAVCAN_EC_FAIL6 -1.0 +# param set-default UAVCAN_EC_FAIL7 -1.0 +# param set-default UAVCAN_EC_FAIL8 -1.0 +# param set-default UAVCAN_EC_FUNC1 0.0 +# param set-default UAVCAN_EC_FUNC2 0.0 +# param set-default UAVCAN_EC_FUNC3 0.0 +# param set-default UAVCAN_EC_FUNC4 0.0 +# param set-default UAVCAN_EC_FUNC5 0.0 +# param set-default UAVCAN_EC_FUNC6 0.0 +# param set-default UAVCAN_EC_FUNC7 0.0 +# param set-default UAVCAN_EC_FUNC8 0.0 +# param set-default UAVCAN_EC_MAX1 8191.0 +# param set-default UAVCAN_EC_MAX2 8191.0 +# param set-default UAVCAN_EC_MAX3 8191.0 +# param set-default UAVCAN_EC_MAX4 8191.0 +# param set-default UAVCAN_EC_MAX5 8191.0 +# param set-default UAVCAN_EC_MAX6 8191.0 +# param set-default UAVCAN_EC_MAX7 8191.0 +# param set-default UAVCAN_EC_MAX8 8191.0 +# param set-default UAVCAN_EC_MIN1 1.0 +# param set-default UAVCAN_EC_MIN2 1.0 +# param set-default UAVCAN_EC_MIN3 1.0 +# param set-default UAVCAN_EC_MIN4 1.0 +# param set-default UAVCAN_EC_MIN5 1.0 +# param set-default UAVCAN_EC_MIN6 1.0 +# param set-default UAVCAN_EC_MIN7 1.0 +# param set-default UAVCAN_EC_MIN8 1.0 +# param set-default UAVCAN_EC_REV 0.0 +# param set-default UAVCAN_ENABLE 2.0 +# param set-default UAVCAN_LGT_ANTCL 2.0 +# param set-default UAVCAN_LGT_LAND 0.0 +# param set-default UAVCAN_LGT_NAV 3.0 +# param set-default UAVCAN_LGT_STROB 1.0 +# param set-default UAVCAN_NODE_ID 1.0 +# param set-default UAVCAN_PUB_ARM 0.0 +# param set-default UAVCAN_PUB_MBD 0.0 +# param set-default UAVCAN_PUB_RTCM 0.0 +# param set-default UAVCAN_SUB_ASPD 0.0 +# param set-default UAVCAN_SUB_BARO 0.0 +# param set-default UAVCAN_SUB_BAT 0.0 +# param set-default UAVCAN_SUB_BTN 0.0 +# param set-default UAVCAN_SUB_DPRES 0.0 +# param set-default UAVCAN_SUB_FLOW 0.0 +# param set-default UAVCAN_SUB_GPS 1.0 +# param set-default UAVCAN_SUB_HYGRO 0.0 +# param set-default UAVCAN_SUB_ICE 0.0 +# param set-default UAVCAN_SUB_IMU 0.0 +# param set-default UAVCAN_SUB_MAG 1.0 +# param set-default UAVCAN_SUB_RNG 0.0 +# param set-default UAVCAN_SV_DIS1 500.0 +# param set-default UAVCAN_SV_DIS2 500.0 +# param set-default UAVCAN_SV_DIS3 500.0 +# param set-default UAVCAN_SV_DIS4 500.0 +# param set-default UAVCAN_SV_DIS5 500.0 +# param set-default UAVCAN_SV_DIS6 500.0 +# param set-default UAVCAN_SV_DIS7 500.0 +# param set-default UAVCAN_SV_DIS8 500.0 +# param set-default UAVCAN_SV_FAIL1 -1.0 +# param set-default UAVCAN_SV_FAIL2 -1.0 +# param set-default UAVCAN_SV_FAIL3 -1.0 +# param set-default UAVCAN_SV_FAIL4 -1.0 +# param set-default UAVCAN_SV_FAIL5 -1.0 +# param set-default UAVCAN_SV_FAIL6 -1.0 +# param set-default UAVCAN_SV_FAIL7 -1.0 +# param set-default UAVCAN_SV_FAIL8 -1.0 +# param set-default UAVCAN_SV_FUNC1 0.0 +# param set-default UAVCAN_SV_FUNC2 0.0 +# param set-default UAVCAN_SV_FUNC3 0.0 +# param set-default UAVCAN_SV_FUNC4 0.0 +# param set-default UAVCAN_SV_FUNC5 0.0 +# param set-default UAVCAN_SV_FUNC6 0.0 +# param set-default UAVCAN_SV_FUNC7 0.0 +# param set-default UAVCAN_SV_FUNC8 0.0 +# param set-default UAVCAN_SV_MAX1 1000.0 +# param set-default UAVCAN_SV_MAX2 1000.0 +# param set-default UAVCAN_SV_MAX3 1000.0 +# param set-default UAVCAN_SV_MAX4 1000.0 +# param set-default UAVCAN_SV_MAX5 1000.0 +# param set-default UAVCAN_SV_MAX6 1000.0 +# param set-default UAVCAN_SV_MAX7 1000.0 +# param set-default UAVCAN_SV_MAX8 1000.0 +# param set-default UAVCAN_SV_MIN1 0.0 +# param set-default UAVCAN_SV_MIN2 0.0 +# param set-default UAVCAN_SV_MIN3 0.0 +# param set-default UAVCAN_SV_MIN4 0.0 +# param set-default UAVCAN_SV_MIN5 0.0 +# param set-default UAVCAN_SV_MIN6 0.0 +# param set-default UAVCAN_SV_MIN7 0.0 +# param set-default UAVCAN_SV_MIN8 0.0 +# param set-default UAVCAN_SV_REV 0.0 +# param set-default UXRCE_DDS_CFG 102.0 +param set-default VTO_LOITER_ALT 80.0 +param set-default VT_B_DEC_MSS 2.0 +param set-default VT_FW_DIFTHR_EN 0.0 +param set-default WEIGHT_BASE -1.0 +param set-default WEIGHT_GROSS -1.0 diff --git a/Tools/simulation/Tools/ROMFS2QGC/README.md b/Tools/simulation/Tools/ROMFS2QGC/README.md new file mode 100644 index 000000000000..87d2409d67a2 --- /dev/null +++ b/Tools/simulation/Tools/ROMFS2QGC/README.md @@ -0,0 +1,45 @@ +## Purpose + +The idea of this tool is to automate the passing of parameters from gazebo to QGC in order for any changes made to the vehicle parameters in gazebo be easily passed to QGroundControl. + +## Requiremetns + +Ensure Python 3 is installed. + +No additional dependencies are required. + +## Usage + +1. Place the ROMFS parameter file to be converted in this directory. +2. Run the script: + ```bash + python3 run.py + ``` +3. Open QGroundControl and load the generated .params file. + +## Functionality + +The tool passes the parameters from the gazebo format `param set-default ASPD_BETA_GATE 1.0` to the QGC format `1 1 ASPD_BETA_GATE 1 6`, only lines that are not commented and start with the word param are converted, currently the above example is passed to be `1 1 ASPD_BETA_GATE 1 idk` since the type is not cheked ,'idk' is used as a place holder, and the Component-Id is assumed to be 1. + +## Usability + +The current implementation provides a minimal working example. Note that this example is made to use PX4's Advanced Plane as a template and some manual ajustments are still required/encouraged since for example parameters used only in simulation will be converted. + +### Key Assumptions: +- The **Component-Id** is assumed to be `1` (since this information is not available). +- The **Type** field is currently not determined and will be set to a placeholder (`idk` for now). +- Only uncommented lines that begin with `param` are processed. + +## Limitations +- The tool currently does not check the type of the parameter. +- The Vehicle-Id and Component-Id are assumed to be 1, as this information is not available in the input file. +- Some manual adjustments may be required since parameters use only in simulation will be converted. + +## Future Work + +The tool, while self-contained, could be expanded into multiple directions. + +Future Improvements: +- Implement automatic detection of the Type field. +- Improve handling of Component-Id if additional information becomes available. +- Provide better error handling and logging. diff --git a/Tools/simulation/Tools/ROMFS2QGC/run.py b/Tools/simulation/Tools/ROMFS2QGC/run.py new file mode 100644 index 000000000000..660a2a6cfcd5 --- /dev/null +++ b/Tools/simulation/Tools/ROMFS2QGC/run.py @@ -0,0 +1,30 @@ +import sys + +def replace_lines_in_file(input_filename, output_filename, vehicle_id): + try: + with open(input_filename, 'r', encoding='utf-8') as file: + lines = file.readlines() + + updated_lines = [] + for line in lines: + if line in ['\n', '\r\n']: #if line is empty + continue + parts = line.strip().split() + if len(parts) >= 4 and "param" in parts[0]: + comment = " " + " ".join(parts[4:]) if len(parts) > 4 else "" + updated_lines.append(f"{vehicle_id}\t1\t{parts[2]}\t{parts[3]}\tidk\t{comment}\n") + else: + updated_lines.append(line) + + with open(output_filename, 'w', encoding='utf-8') as file: + file.writelines(updated_lines) + + print(f"File '{output_filename}' created successfully.") + except Exception as e: + print(f"Error processing file '{input_filename}': {e}") + +if __name__ == "__main__": + if len(sys.argv) != 3: + print("Usage: python3 run.py ") + else: + replace_lines_in_file(sys.argv[1], sys.argv[2], sys.argv[3])