modify pid for typhoon_h480
This commit is contained in:
parent
8d957d4505
commit
e3a31f5bd1
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@ -1,6 +1,6 @@
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#!/bin/bash
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iris_num=18
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typhoon_h480_num=
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iris_num=9
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typhoon_h480_num=0
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solo_num=0
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plane_num=0
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rover_num=0
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@ -279,266 +279,5 @@
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_9 -->
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<group ns="iris_9">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="9"/>
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<arg name="ID_in_group" value="9"/>
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<arg name="fcu_url" default="udp://:24549@localhost:34589"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="0"/>
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<arg name="y" value="12"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18579"/>
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<arg name="mavlink_tcp_port" value="4569"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_10 -->
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<group ns="iris_10">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="10"/>
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<arg name="ID_in_group" value="10"/>
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<arg name="fcu_url" default="udp://:24550@localhost:34590"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="3"/>
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<arg name="y" value="12"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18580"/>
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<arg name="mavlink_tcp_port" value="4570"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_11 -->
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<group ns="iris_11">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="11"/>
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<arg name="ID_in_group" value="11"/>
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<arg name="fcu_url" default="udp://:24551@localhost:34591"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="6"/>
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<arg name="y" value="12"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18581"/>
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<arg name="mavlink_tcp_port" value="4571"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_12 -->
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<group ns="iris_12">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="12"/>
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<arg name="ID_in_group" value="12"/>
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<arg name="fcu_url" default="udp://:24552@localhost:34592"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="0"/>
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<arg name="y" value="15"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18582"/>
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<arg name="mavlink_tcp_port" value="4572"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_13 -->
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<group ns="iris_13">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="13"/>
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<arg name="ID_in_group" value="13"/>
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<arg name="fcu_url" default="udp://:24553@localhost:34593"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="3"/>
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<arg name="y" value="15"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18583"/>
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<arg name="mavlink_tcp_port" value="4573"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_14 -->
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<group ns="iris_14">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="14"/>
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<arg name="ID_in_group" value="14"/>
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<arg name="fcu_url" default="udp://:24554@localhost:34594"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="6"/>
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<arg name="y" value="15"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18584"/>
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<arg name="mavlink_tcp_port" value="4574"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_15 -->
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<group ns="iris_15">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="15"/>
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<arg name="ID_in_group" value="15"/>
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<arg name="fcu_url" default="udp://:24555@localhost:34595"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="0"/>
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<arg name="y" value="18"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18585"/>
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<arg name="mavlink_tcp_port" value="4575"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_16 -->
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<group ns="iris_16">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="16"/>
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<arg name="ID_in_group" value="16"/>
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<arg name="fcu_url" default="udp://:24556@localhost:34596"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="3"/>
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<arg name="y" value="18"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18586"/>
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<arg name="mavlink_tcp_port" value="4576"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<!-- iris_17 -->
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<group ns="iris_17">
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<!-- MAVROS and vehicle configs -->
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<arg name="ID" value="17"/>
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<arg name="ID_in_group" value="17"/>
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<arg name="fcu_url" default="udp://:24557@localhost:34597"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
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<arg name="x" value="6"/>
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<arg name="y" value="18"/>
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<arg name="z" value="0"/>
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<arg name="R" value="0"/>
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<arg name="P" value="0"/>
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<arg name="Y" value="0"/>
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<arg name="vehicle" value="iris"/>
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<arg name="sdf" value="iris_stereo_camera"/>
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<arg name="mavlink_udp_port" value="18587"/>
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<arg name="mavlink_tcp_port" value="4577"/>
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<arg name="ID" value="$(arg ID)"/>
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<arg name="ID_in_group" value="$(arg ID_in_group)"/>
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</include>
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<!-- MAVROS -->
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<include file="$(find mavros)/launch/px4.launch">
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<arg name="fcu_url" value="$(arg fcu_url)"/>
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<arg name="gcs_url" value=""/>
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<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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</launch>
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<!--the launch file is generated by XTDrone multi-vehicle generator.py -->
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@ -11,10 +11,10 @@ if [ $AUTOCNF = yes ]
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then
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param set MC_PITCHRATE_P 0.1
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param set MC_PITCHRATE_I 0.05
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param set MC_PITCH_P 5.0
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param set MC_ROLLRATE_P 0.15
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param set MC_ROLLRATE_I 0.1
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param set MC_ROLL_P 5.0
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param set MC_PITCH_P 6.0
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param set MC_ROLLRATE_P 0.1
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param set MC_ROLLRATE_I 0.05
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param set MC_ROLL_P 6.0
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param set MPC_XY_VEL_I 0.2
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param set MPC_XY_VEL_P 0.15
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@ -29,4 +29,4 @@ fi
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set MAV_TYPE 13
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set MIXER hexa_x
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set MIXER hexa_x
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