diff --git a/Gazebo/config/heli_dual_transverse.param b/Gazebo/config/heli_dual_transverse.param new file mode 100644 index 00000000..80d23975 --- /dev/null +++ b/Gazebo/config/heli_dual_transverse.param @@ -0,0 +1,1394 @@ +ACRO_BAL_PITCH 1.000000 +ACRO_BAL_ROLL 1.000000 +ACRO_OPTIONS 0 +ACRO_RP_EXPO 0.300000 +ACRO_RP_RATE 360.000000 +ACRO_RP_RATE_TC 0.000000 +ACRO_THR_MID 0.000000 +ACRO_TRAINER 2 +ACRO_Y_EXPO 0.000000 +ACRO_Y_RATE 202.500000 +ACRO_Y_RATE_TC 0.000000 +ADSB_TYPE 0 +AHRS_COMP_BETA 0.100000 +AHRS_EKF_TYPE 3 +AHRS_GPS_GAIN 1.000000 +AHRS_GPS_MINSATS 6 +AHRS_GPS_USE 1 +AHRS_OPTIONS 0 +AHRS_ORIENTATION 0 +AHRS_RP_P 0.200000 +AHRS_TRIM_X 0.000000 +AHRS_TRIM_Y 0.000000 +AHRS_TRIM_Z 0.000000 +AHRS_WIND_MAX 0 +AHRS_YAW_P 0.200000 +ANGLE_MAX 3000 +ARMING_ACCTHRESH 0.750000 +ARMING_CHECK 1 +ARMING_MAGTHRESH 100 +ARMING_MIS_ITEMS 0 +ARMING_NEED_LOC 0 +ARMING_OPTIONS 0 +ARMING_RUDDER 2 +AROT_ENABLE 0 +ARSPD_ENABLE 0 +ATC_ACCEL_P_MAX 60000.000000 +ATC_ACCEL_R_MAX 60000.000000 +ATC_ACCEL_Y_MAX 60000.000000 +ATC_ANGLE_BOOST 1 +ATC_ANG_LIM_TC 1.000000 +ATC_ANG_PIT_P 8.000000 +ATC_ANG_RLL_P 8.000000 +ATC_ANG_YAW_P 6.000000 +ATC_HOVR_ROL_TRM 0 +ATC_INPUT_TC 0.150000 +ATC_LAND_P_MULT 1.000000 +ATC_LAND_R_MULT 1.000000 +ATC_LAND_Y_MULT 1.000000 +ATC_PIRO_COMP 0 +ATC_RATE_FF_ENAB 1 +ATC_RATE_P_MAX 0.000000 +ATC_RATE_R_MAX 0.000000 +ATC_RATE_Y_MAX 0.000000 +ATC_RAT_PIT_D 0.005000 +ATC_RAT_PIT_D_FF 0.000000 +ATC_RAT_PIT_FF 0.080000 +ATC_RAT_PIT_FLTD 0.000000 +ATC_RAT_PIT_FLTE 20.000000 +ATC_RAT_PIT_FLTT 20.000000 +ATC_RAT_PIT_I 0.040000 +ATC_RAT_PIT_ILMI 0.100000 +ATC_RAT_PIT_IMAX 0.400000 +ATC_RAT_PIT_NEF 0 +ATC_RAT_PIT_NTF 0 +ATC_RAT_PIT_P 0.040000 +ATC_RAT_PIT_PDMX 0.000000 +ATC_RAT_PIT_SMAX 0.000000 +ATC_RAT_RLL_D 0.005000 +ATC_RAT_RLL_D_FF 0.000000 +ATC_RAT_RLL_FF 0.080000 +ATC_RAT_RLL_FLTD 0.000000 +ATC_RAT_RLL_FLTE 20.000000 +ATC_RAT_RLL_FLTT 20.000000 +ATC_RAT_RLL_I 0.040000 +ATC_RAT_RLL_ILMI 0.100000 +ATC_RAT_RLL_IMAX 0.400000 +ATC_RAT_RLL_NEF 0 +ATC_RAT_RLL_NTF 0 +ATC_RAT_RLL_P 0.040000 +ATC_RAT_RLL_PDMX 0.000000 +ATC_RAT_RLL_SMAX 0.000000 +ATC_RAT_YAW_D 0.010000 +ATC_RAT_YAW_D_FF 0.000000 +ATC_RAT_YAW_FF 0.100000 +ATC_RAT_YAW_FLTD 0.000000 +ATC_RAT_YAW_FLTE 20.000000 +ATC_RAT_YAW_FLTT 20.000000 +ATC_RAT_YAW_I 0.050000 +ATC_RAT_YAW_ILMI 0.000000 +ATC_RAT_YAW_IMAX 1.000000 +ATC_RAT_YAW_NEF 0 +ATC_RAT_YAW_NTF 0 +ATC_RAT_YAW_P 0.800000 +ATC_RAT_YAW_PDMX 0.000000 +ATC_RAT_YAW_SMAX 0.000000 +ATC_SLEW_YAW 6000.000000 +AUTOTUNE_ACC_MAX 0.000000 +AUTOTUNE_AXES 1.000000 +AUTOTUNE_FRQ_MAX 70.000000 +AUTOTUNE_FRQ_MIN 10.000000 +AUTOTUNE_GN_MAX 1.800000 +AUTOTUNE_RAT_MAX 0.000000 +AUTOTUNE_SEQ 1.000000 +AUTOTUNE_VELXY_P 0.100000 +AUTO_OPTIONS 0 +AVD_ENABLE 0 +AVOID_ACCEL_MAX 3.000000 +AVOID_ALT_MIN 0.000000 +AVOID_ANGLE_MAX 1000 +AVOID_BACKUP_DZ 0.100000 +AVOID_BACKUP_SPD 0.750000 +AVOID_BACKZ_SPD 0.750000 +AVOID_BEHAVE 0 +AVOID_DIST_MAX 5.000000 +AVOID_ENABLE 3 +AVOID_MARGIN 2.000000 +BARO1_DEVID 65540 +BARO1_GND_PRESS 101322.945312 +BARO1_WCF_ENABLE 0 +BARO2_DEVID 65796 +BARO2_GND_PRESS 101325.257812 +BARO2_WCF_ENABLE 0 +BARO3_DEVID 0 +BARO3_GND_PRESS 0.000000 +BARO3_WCF_ENABLE 0 +BARO_ALTERR_MAX 2000.000000 +BARO_ALT_OFFSET 0.000000 +BARO_EXT_BUS -1 +BARO_FIELD_ELV 0.000000 +BARO_FLTR_RNG 0 +BARO_GND_TEMP 0.000000 +BARO_OPTIONS 0 +BARO_PRIMARY 0 +BARO_PROBE_EXT 0 +BATT2_MONITOR 0 +BATT3_MONITOR 0 +BATT4_MONITOR 0 +BATT5_MONITOR 0 +BATT6_MONITOR 0 +BATT7_MONITOR 0 +BATT8_MONITOR 0 +BATT9_MONITOR 0 +BATT_AMP_OFFSET 0.000000 +BATT_AMP_PERVLT 17.000000 +BATT_ARM_MAH 0 +BATT_ARM_VOLT 0.000000 +BATT_CAPACITY 3300 +BATT_CRT_MAH 0.000000 +BATT_CRT_VOLT 0.000000 +BATT_CURR_PIN 12 +BATT_FS_CRT_ACT 0 +BATT_FS_LOW_ACT 0 +BATT_FS_VOLTSRC 0 +BATT_LOW_MAH 0.000000 +BATT_LOW_TIMER 10 +BATT_LOW_VOLT 10.500000 +BATT_MONITOR 4 +BATT_OPTIONS 0 +BATT_SERIAL_NUM -1 +BATT_VLT_OFFSET 0.000000 +BATT_VOLT_MULT 10.100000 +BATT_VOLT_PIN 13 +BCN_TYPE 0 +BRD_BOOT_DELAY 0 +BRD_OPTIONS 0 +BRD_RTC_TYPES 1 +BRD_RTC_TZ_MIN 0 +BRD_SAFETYOPTION 3 +BRD_SAFETY_DEFLT 0 +BRD_SAFETY_MASK 0 +BRD_SD_FENCE 0 +BRD_SD_MISSION 0 +BRD_SERIAL_NUM 0 +BRD_VBUS_MIN 4.300000 +BRD_VSERVO_MIN 0.000000 +BTN_ENABLE 0 +CAM1_TYPE 0 +CAM2_TYPE 0 +CAM_AUTO_ONLY 0 +CAM_MAX_ROLL 0 +CAN_D1_PROTOCOL 1 +CAN_D1_PROTOCOL2 0 +CAN_D2_PROTOCOL 1 +CAN_D2_PROTOCOL2 0 +CAN_LOGLEVEL 0 +CAN_P1_DRIVER 0 +CAN_P2_DRIVER 0 +CHUTE_ENABLED 0 +CIRCLE_OPTIONS 1 +CIRCLE_RADIUS 1000.000000 +CIRCLE_RATE 20.000000 +COMPASS_AUTODEC 1 +COMPASS_AUTO_ROT 2 +COMPASS_CAL_FIT 16.000000 +COMPASS_DEC 0.000000 +COMPASS_DEV_ID 97539 +COMPASS_DEV_ID2 131874 +COMPASS_DEV_ID3 263178 +COMPASS_DEV_ID4 97283 +COMPASS_DEV_ID5 97795 +COMPASS_DEV_ID6 98051 +COMPASS_DEV_ID7 0 +COMPASS_DEV_ID8 0 +COMPASS_DIA2_X 1.000000 +COMPASS_DIA2_Y 1.000000 +COMPASS_DIA2_Z 1.000000 +COMPASS_DIA3_X 1.000000 +COMPASS_DIA3_Y 1.000000 +COMPASS_DIA3_Z 1.000000 +COMPASS_DIA_X 1.000000 +COMPASS_DIA_Y 1.000000 +COMPASS_DIA_Z 1.000000 +COMPASS_DISBLMSK 0 +COMPASS_ENABLE 1 +COMPASS_EXTERN2 0 +COMPASS_EXTERN3 0 +COMPASS_EXTERNAL 1 +COMPASS_FLTR_RNG 0 +COMPASS_LEARN 0 +COMPASS_MOT2_X 0.000000 +COMPASS_MOT2_Y 0.000000 +COMPASS_MOT2_Z 0.000000 +COMPASS_MOT3_X 0.000000 +COMPASS_MOT3_Y 0.000000 +COMPASS_MOT3_Z 0.000000 +COMPASS_MOTCT 0 +COMPASS_MOT_X 0.000000 +COMPASS_MOT_Y 0.000000 +COMPASS_MOT_Z 0.000000 +COMPASS_ODI2_X 0.000000 +COMPASS_ODI2_Y 0.000000 +COMPASS_ODI2_Z 0.000000 +COMPASS_ODI3_X 0.000000 +COMPASS_ODI3_Y 0.000000 +COMPASS_ODI3_Z 0.000000 +COMPASS_ODI_X 0.000000 +COMPASS_ODI_Y 0.000000 +COMPASS_ODI_Z 0.000000 +COMPASS_OFFS_MAX 1800 +COMPASS_OFS2_X 5.000000 +COMPASS_OFS2_Y 13.000000 +COMPASS_OFS2_Z -18.000000 +COMPASS_OFS3_X 1.000000 +COMPASS_OFS3_Y 1.000000 +COMPASS_OFS3_Z 1.000000 +COMPASS_OFS_X 2.874900 +COMPASS_OFS_Y -21.826200 +COMPASS_OFS_Z -21.842199 +COMPASS_OPTIONS 0 +COMPASS_ORIENT 0 +COMPASS_ORIENT2 0 +COMPASS_ORIENT3 0 +COMPASS_PMOT_EN 0 +COMPASS_PRIO1_ID 97539 +COMPASS_PRIO2_ID 131874 +COMPASS_PRIO3_ID 263178 +COMPASS_SCALE 1.000000 +COMPASS_SCALE2 1.000000 +COMPASS_SCALE3 1.000000 +COMPASS_USE 1 +COMPASS_USE2 1 +COMPASS_USE3 1 +CUST_ROT_ENABLE 0 +DEV_OPTIONS 0 +DID_ENABLE 0 +DISARM_DELAY 10 +EAHRS_TYPE 0 +EFI_TYPE 0 +EK2_ENABLE 0 +EK3_ABIAS_P_NSE 0.020000 +EK3_ACC_BIAS_LIM 1.000000 +EK3_ACC_P_NSE 0.350000 +EK3_AFFINITY 0 +EK3_ALT_M_NSE 2.000000 +EK3_BCN_DELAY 50 +EK3_BCN_I_GTE 500 +EK3_BCN_M_NSE 1.000000 +EK3_BETA_MASK 0 +EK3_CHECK_SCALE 100 +EK3_DRAG_BCOEF_X 0.000000 +EK3_DRAG_BCOEF_Y 0.000000 +EK3_DRAG_MCOEF 0.000000 +EK3_DRAG_M_NSE 0.500000 +EK3_EAS_I_GATE 400 +EK3_EAS_M_NSE 1.400000 +EK3_ENABLE 1 +EK3_ERR_THRESH 0.200000 +EK3_FLOW_DELAY 10 +EK3_FLOW_I_GATE 300 +EK3_FLOW_M_NSE 0.250000 +EK3_FLOW_USE 1 +EK3_GBIAS_P_NSE 0.001000 +EK3_GLITCH_RAD 25 +EK3_GND_EFF_DZ 4.000000 +EK3_GPS_CHECK 31 +EK3_GPS_VACC_MAX 0.000000 +EK3_GSF_RST_MAX 2 +EK3_GSF_RUN_MASK 3 +EK3_GSF_USE_MASK 3 +EK3_GYRO_P_NSE 0.015000 +EK3_HGT_DELAY 60 +EK3_HGT_I_GATE 500 +EK3_HRT_FILT 2.000000 +EK3_IMU_MASK 3 +EK3_LOG_LEVEL 0 +EK3_MAGB_P_NSE 0.000100 +EK3_MAGE_P_NSE 0.001000 +EK3_MAG_CAL 3 +EK3_MAG_EF_LIM 50 +EK3_MAG_I_GATE 300 +EK3_MAG_MASK 0 +EK3_MAG_M_NSE 0.050000 +EK3_MAX_FLOW 2.500000 +EK3_NOAID_M_NSE 10.000000 +EK3_OGNM_TEST_SF 2.000000 +EK3_OGN_HGT_MASK 0 +EK3_OPTIONS 0 +EK3_POSNE_M_NSE 0.500000 +EK3_POS_I_GATE 500 +EK3_PRIMARY 0 +EK3_RNG_I_GATE 500 +EK3_RNG_M_NSE 0.500000 +EK3_RNG_USE_HGT -1 +EK3_RNG_USE_SPD 2.000000 +EK3_SRC1_POSXY 3 +EK3_SRC1_POSZ 1 +EK3_SRC1_VELXY 3 +EK3_SRC1_VELZ 3 +EK3_SRC1_YAW 1 +EK3_SRC2_POSXY 0 +EK3_SRC2_POSZ 1 +EK3_SRC2_VELXY 0 +EK3_SRC2_VELZ 0 +EK3_SRC2_YAW 0 +EK3_SRC3_POSXY 0 +EK3_SRC3_POSZ 1 +EK3_SRC3_VELXY 0 +EK3_SRC3_VELZ 0 +EK3_SRC3_YAW 0 +EK3_SRC_OPTIONS 1 +EK3_TAU_OUTPUT 25 +EK3_TERR_GRAD 0.100000 +EK3_VELD_M_NSE 0.500000 +EK3_VELNE_M_NSE 0.300000 +EK3_VEL_I_GATE 500 +EK3_VIS_VERR_MAX 0.900000 +EK3_VIS_VERR_MIN 0.100000 +EK3_WENC_VERR 0.100000 +EK3_WIND_PSCALE 1.000000 +EK3_WIND_P_NSE 0.200000 +EK3_YAW_I_GATE 300 +EK3_YAW_M_NSE 0.500000 +ESC_CALIBRATION 0 +ESC_TLM_MAV_OFS 0 +FENCE_ACTION 1 +FENCE_ALT_MAX 100.000000 +FENCE_ALT_MIN -10.000000 +FENCE_AUTOENABLE 0 +FENCE_ENABLE 0 +FENCE_MARGIN 2.000000 +FENCE_NTF_FREQ 1.000000 +FENCE_OPTIONS 0 +FENCE_RADIUS 300.000000 +FENCE_TOTAL 0 +FENCE_TYPE 7 +FFT_ENABLE 0 +FHLD_BRAKE_RATE 8 +FHLD_FILT_HZ 5.000000 +FHLD_FLOW_MAX 0.600000 +FHLD_QUAL_MIN 10 +FHLD_XY_FILT_HZ 5.000000 +FHLD_XY_I 0.300000 +FHLD_XY_IMAX 3000.000000 +FHLD_XY_P 0.200000 +FILT1_TYPE 0 +FILT2_TYPE 0 +FILT3_TYPE 0 +FILT4_TYPE 0 +FILT5_TYPE 0 +FILT6_TYPE 0 +FILT7_TYPE 0 +FILT8_TYPE 0 +FLIGHT_OPTIONS 0 +FLOW_TYPE 0 +FLTMODE1 7 +FLTMODE2 9 +FLTMODE3 6 +FLTMODE4 3 +FLTMODE5 5 +FLTMODE6 0 +FLTMODE_CH 5 +FLTMODE_GCSBLOCK 0 +FOLL_ENABLE 0 +FORMAT_VERSION 120 +FRAME_CLASS 11 +FRAME_TYPE 1 +FRSKY_DNLINK1_ID 20 +FRSKY_DNLINK2_ID 7 +FRSKY_DNLINK_ID 27 +FRSKY_OPTIONS 0 +FRSKY_UPLINK_ID 13 +FS_CRASH_CHECK 1 +FS_DR_ENABLE 2 +FS_DR_TIMEOUT 30 +FS_EKF_ACTION 1 +FS_EKF_FILT 5.000000 +FS_EKF_THRESH 0.800000 +FS_GCS_ENABLE 0 +FS_GCS_TIMEOUT 5.000000 +FS_OPTIONS 16 +FS_THR_ENABLE 1 +FS_THR_VALUE 975 +FS_VIBE_ENABLE 1 +GCS_PID_MASK 4.000000 +GEN_TYPE 0 +GND_EFFECT_COMP 1 +GPS1_CAN_NODEID 0 +GPS1_CAN_OVRIDE 0 +GPS1_COM_PORT 1 +GPS1_DELAY_MS 0 +GPS1_GNSS_MODE 0 +GPS1_MB_TYPE 0 +GPS1_POS_X 0.000000 +GPS1_POS_Y 0.000000 +GPS1_POS_Z 0.000000 +GPS1_RATE_MS 200 +GPS1_TYPE 1 +GPS2_TYPE 0 +GPS_AUTO_CONFIG 1 +GPS_AUTO_SWITCH 1 +GPS_BLEND_MASK 5 +GPS_DRV_OPTIONS 0 +GPS_HDOP_GOOD 140 +GPS_INJECT_TO 127 +GPS_MIN_ELEV -100 +GPS_NAVFILTER 8 +GPS_PRIMARY 0 +GPS_RAW_DATA 0 +GPS_SAVE_CFG 2 +GPS_SBAS_MODE 2 +GPS_SBP_LOGMASK -256 +GRIP_ENABLE 0 +GUID_OPTIONS 0 +GUID_TIMEOUT 3.000000 +H_COL2_MAX 1680 +H_COL2_MIN 1470 +H_COL_ANG_MAX 12.200000 +H_COL_ANG_MIN -2.000000 +H_COL_HOVER 0.300000 +H_COL_LAND_MIN -2.000000 +H_COL_MAX 1680 +H_COL_MIN 1470 +H_COL_ZERO_THRST 0.000000 +H_CYC_MAX 2500 +H_DCP_SCALER 0.350000 +H_DCP_TRIM 0.000000 +H_DCP_YAW 0.000000 +H_DUAL_MODE 1 +H_HOVER_LEARN 2 +H_OPTIONS 1 +H_RSC_AROT_ENBL 0 +H_RSC_CLDWN_TIME 0 +H_RSC_CRITICAL 50 +H_RSC_GOV_COMP 25.000000 +H_RSC_GOV_DROOP 25.000000 +H_RSC_GOV_FF 50.000000 +H_RSC_GOV_RANGE 100.000000 +H_RSC_GOV_RPM 1500 +H_RSC_GOV_TORQUE 30.000000 +H_RSC_IDLE 0 +H_RSC_MODE 2 +H_RSC_RAMP_TIME 1 +H_RSC_RUNUP_TIME 10 +H_RSC_SETPOINT 48 +H_RSC_SLEWRATE 0 +H_RSC_THRCRV_0 25 +H_RSC_THRCRV_100 100 +H_RSC_THRCRV_25 32 +H_RSC_THRCRV_50 38 +H_RSC_THRCRV_75 50 +H_SV_MAN 0.000000 +H_SV_TEST 0 +H_SW2_COL_DIR 0 +H_SW2_H3_ENABLE 0 +H_SW2_LIN_SVO 0 +H_SW2_TYPE 3 +H_SW_COL_DIR 0 +H_SW_H3_ENABLE 0 +H_SW_LIN_SVO 0 +H_SW_TYPE 3 +H_YAW_REV_EXPO -1.000000 +H_YAW_SCALER 1.000000 +IM_ACRO_COL_EXP 0.200000 +IM_STB_COL_1 0 +IM_STB_COL_2 40 +IM_STB_COL_3 60 +IM_STB_COL_4 100 +INITIAL_MODE 0 +INS_ACC1_CALTEMP -300.000000 +INS_ACC2OFFS_X 0.001000 +INS_ACC2OFFS_Y 0.001000 +INS_ACC2OFFS_Z 0.001000 +INS_ACC2SCAL_X 1.001000 +INS_ACC2SCAL_Y 1.001000 +INS_ACC2SCAL_Z 1.001000 +INS_ACC2_CALTEMP -300.000000 +INS_ACC2_ID 2753036.000000 +INS_ACC3OFFS_X 0.000000 +INS_ACC3OFFS_Y 0.000000 +INS_ACC3OFFS_Z 0.000000 +INS_ACC3SCAL_X 1.000000 +INS_ACC3SCAL_Y 1.000000 +INS_ACC3SCAL_Z 1.000000 +INS_ACC3_CALTEMP -300.000000 +INS_ACC3_ID 0 +INS_ACCEL_FILTER 20 +INS_ACCOFFS_X 0.001000 +INS_ACCOFFS_Y 0.001000 +INS_ACCOFFS_Z 0.001000 +INS_ACCSCAL_X 1.001000 +INS_ACCSCAL_Y 1.001000 +INS_ACCSCAL_Z 1.001000 +INS_ACC_BODYFIX 2 +INS_ACC_ID 2753028.000000 +INS_ENABLE_MASK 127 +INS_FAST_SAMPLE 1 +INS_GYR1_CALTEMP -300.000000 +INS_GYR2OFFS_X 0.000000 +INS_GYR2OFFS_Y 0.000000 +INS_GYR2OFFS_Z 0.000000 +INS_GYR2_CALTEMP -300.000000 +INS_GYR2_ID 2752780 +INS_GYR3OFFS_X 0.000000 +INS_GYR3OFFS_Y 0.000000 +INS_GYR3OFFS_Z 0.000000 +INS_GYR3_CALTEMP -300.000000 +INS_GYR3_ID 0 +INS_GYROFFS_X 0.000000 +INS_GYROFFS_Y 0.000000 +INS_GYROFFS_Z 0.000000 +INS_GYRO_FILTER 20 +INS_GYRO_RATE 0 +INS_GYR_CAL 0 +INS_GYR_ID 2752772 +INS_HNTC2_ENABLE 0 +INS_HNTC3_ENABLE 0 +INS_HNTCH_ENABLE 0 +INS_LOG_BAT_CNT 1024 +INS_LOG_BAT_LGCT 32 +INS_LOG_BAT_LGIN 20 +INS_LOG_BAT_MASK 0 +INS_LOG_BAT_OPT 0 +INS_POS1_X 0.000000 +INS_POS1_Y 0.000000 +INS_POS1_Z 0.000000 +INS_POS2_X 0.000000 +INS_POS2_Y 0.000000 +INS_POS2_Z 0.000000 +INS_POS3_X 0.000000 +INS_POS3_Y 0.000000 +INS_POS3_Z 0.000000 +INS_RAW_LOG_OPT 0 +INS_STILL_THRESH 2.500000 +INS_TCAL1_ENABLE 0 +INS_TCAL2_ENABLE 0 +INS_TCAL3_ENABLE 0 +INS_TCAL_OPTIONS 0 +INS_TRIM_OPTION 1 +INS_USE 1 +INS_USE2 1 +INS_USE3 1 +KDE_NPOLE 14 +LAND_ALT_LOW 1000 +LAND_REPOSITION 1 +LAND_SPEED 50 +LAND_SPEED_HIGH 0 +LGR_ENABLE 0 +LOG_BACKEND_TYPE 1 +LOG_BITMASK 2504703 +LOG_BLK_RATEMAX 0.000000 +LOG_DARM_RATEMAX 0.000000 +LOG_DISARMED 0 +LOG_FILE_BUFSIZE 200 +LOG_FILE_DSRMROT 0 +LOG_FILE_MB_FREE 500 +LOG_FILE_RATEMAX 0.000000 +LOG_FILE_TIMEOUT 5 +LOG_MAV_BUFSIZE 8 +LOG_MAV_RATEMAX 0.000000 +LOG_MAX_FILES 500 +LOG_REPLAY 1 +LOIT_ACC_MAX 500.000000 +LOIT_ANG_MAX 0.000000 +LOIT_BRK_ACCEL 125.000000 +LOIT_BRK_DELAY 1.000000 +LOIT_BRK_JERK 250.000000 +LOIT_SPEED 3000.000000 +MAV1_ADSB 4 +MAV1_EXTRA1 4 +MAV1_EXTRA2 4 +MAV1_EXTRA3 4 +MAV1_EXT_STAT 4 +MAV1_OPTIONS 0 +MAV1_PARAMS 0 +MAV1_POSITION 4 +MAV1_RAW_CTRL 4 +MAV1_RAW_SENS 4 +MAV1_RC_CHAN 4 +MAV2_ADSB 0 +MAV2_EXTRA1 0 +MAV2_EXTRA2 0 +MAV2_EXTRA3 0 +MAV2_EXT_STAT 0 +MAV2_OPTIONS 0 +MAV2_PARAMS 0 +MAV2_POSITION 0 +MAV2_RAW_CTRL 0 +MAV2_RAW_SENS 0 +MAV2_RC_CHAN 0 +MAV3_ADSB 0 +MAV3_EXTRA1 0 +MAV3_EXTRA2 0 +MAV3_EXTRA3 0 +MAV3_EXT_STAT 0 +MAV3_OPTIONS 0 +MAV3_PARAMS 0 +MAV3_POSITION 0 +MAV3_RAW_CTRL 0 +MAV3_RAW_SENS 0 +MAV3_RC_CHAN 0 +MAV_GCS_SYSID 255 +MAV_OPTIONS 0 +MAV_SYSID 1 +MAV_TELEM_DELAY 0 +MIS_OPTIONS 0 +MIS_RESTART 0 +MIS_TOTAL 10 +MNT1_TYPE 0 +MNT2_TYPE 0 +MSP_OPTIONS 0 +MSP_OSD_NCELLS 0 +NET_ENABLE 0 +NET_P1_TYPE 0 +NET_P2_TYPE 0 +NET_P3_TYPE 0 +NET_P4_TYPE 0 +NMEA_MSG_EN 3 +NMEA_RATE_MS 100 +NTF_BUZZ_ON_LVL 1 +NTF_BUZZ_PIN -1 +NTF_BUZZ_TYPES 5 +NTF_BUZZ_VOLUME 100 +NTF_DISPLAY_TYPE 0 +NTF_LED_BRIGHT 3 +NTF_LED_LEN 1 +NTF_LED_OVERRIDE 0 +NTF_LED_TYPES 123079 +OA_TYPE 0 +OSD_TYPE 0 +PHLD_BRAKE_ANGLE 800 +PHLD_BRAKE_RATE 4 +PILOT_ACCEL_Z 250 +PILOT_SPEED_DN 0 +PILOT_SPEED_UP 250 +PILOT_THR_BHV 0 +PILOT_THR_FILT 0.000000 +PILOT_TKOFF_ALT 0.000000 +PILOT_Y_EXPO 0.000000 +PILOT_Y_RATE 202.500000 +PILOT_Y_RATE_TC 0.000000 +PLDP_DELAY 0.000000 +PLDP_RNG_MAX 0.000000 +PLDP_SPEED_DN 0.000000 +PLDP_THRESH 0.900000 +PLND_ENABLED 0 +PRX1_TYPE 0 +PRX2_TYPE 0 +PRX3_TYPE 0 +PRX4_TYPE 0 +PRX5_TYPE 0 +PRX_ALT_MIN 1.000000 +PRX_FILT 0.250000 +PRX_IGN_GND 0 +PRX_LOG_RAW 0 +PSC_ACCZ_D 0.000000 +PSC_ACCZ_D_FF 0.000000 +PSC_ACCZ_FF 0.000000 +PSC_ACCZ_FLTD 0.000000 +PSC_ACCZ_FLTE 20.000000 +PSC_ACCZ_FLTT 0.000000 +PSC_ACCZ_I 1.000000 +PSC_ACCZ_IMAX 800.000000 +PSC_ACCZ_NEF 0 +PSC_ACCZ_NTF 0 +PSC_ACCZ_P 0.280000 +PSC_ACCZ_PDMX 0.000000 +PSC_ACCZ_SMAX 0.000000 +PSC_ANGLE_MAX 0.000000 +PSC_JERK_XY 5.000000 +PSC_JERK_Z 5.000000 +PSC_POSXY_P 1.000000 +PSC_POSZ_P 1.000000 +PSC_VELXY_D 0.500000 +PSC_VELXY_FF 0.000000 +PSC_VELXY_FLTD 5.000000 +PSC_VELXY_FLTE 5.000000 +PSC_VELXY_I 0.500000 +PSC_VELXY_IMAX 1000.000000 +PSC_VELXY_P 1.000000 +PSC_VELZ_D 0.000000 +PSC_VELZ_FF 0.000000 +PSC_VELZ_FLTD 5.000000 +PSC_VELZ_FLTE 5.000000 +PSC_VELZ_I 0.000000 +PSC_VELZ_IMAX 1000.000000 +PSC_VELZ_P 5.000000 +RALLY_INCL_HOME 1 +RALLY_LIMIT_KM 0.300000 +RALLY_TOTAL 0 +RC10_DZ 0 +RC10_MAX 1900 +RC10_MIN 1100 +RC10_OPTION 0 +RC10_REVERSED 0 +RC10_TRIM 1500 +RC11_DZ 0 +RC11_MAX 1900 +RC11_MIN 1100 +RC11_OPTION 0 +RC11_REVERSED 0 +RC11_TRIM 1500 +RC12_DZ 0 +RC12_MAX 1900 +RC12_MIN 1100 +RC12_OPTION 0 +RC12_REVERSED 0 +RC12_TRIM 1500 +RC13_DZ 0 +RC13_MAX 1900 +RC13_MIN 1100 +RC13_OPTION 0 +RC13_REVERSED 0 +RC13_TRIM 1500 +RC14_DZ 0 +RC14_MAX 1900 +RC14_MIN 1100 +RC14_OPTION 0 +RC14_REVERSED 0 +RC14_TRIM 1500 +RC15_DZ 0 +RC15_MAX 1900 +RC15_MIN 1100 +RC15_OPTION 0 +RC15_REVERSED 0 +RC15_TRIM 1500 +RC16_DZ 0 +RC16_MAX 1900 +RC16_MIN 1100 +RC16_OPTION 0 +RC16_REVERSED 0 +RC16_TRIM 1500 +RC1_DZ 20 +RC1_MAX 2000 +RC1_MIN 1000 +RC1_OPTION 0 +RC1_REVERSED 0 +RC1_TRIM 1500 +RC2_DZ 20 +RC2_MAX 2000 +RC2_MIN 1000 +RC2_OPTION 0 +RC2_REVERSED 0 +RC2_TRIM 1500 +RC3_DZ 10 +RC3_MAX 2000 +RC3_MIN 1000 +RC3_OPTION 0 +RC3_REVERSED 0 +RC3_TRIM 1500 +RC4_DZ 15 +RC4_MAX 2000 +RC4_MIN 1000 +RC4_OPTION 0 +RC4_REVERSED 0 +RC4_TRIM 1500 +RC5_DZ 0 +RC5_MAX 2000 +RC5_MIN 1000 +RC5_OPTION 0 +RC5_REVERSED 0 +RC5_TRIM 1500 +RC6_DZ 0 +RC6_MAX 2000 +RC6_MIN 1000 +RC6_OPTION 0 +RC6_REVERSED 0 +RC6_TRIM 1500 +RC7_DZ 0 +RC7_MAX 2000 +RC7_MIN 1000 +RC7_OPTION 0 +RC7_REVERSED 0 +RC7_TRIM 1500 +RC8_DZ 0 +RC8_MAX 2000 +RC8_MIN 1000 +RC8_OPTION 32 +RC8_REVERSED 0 +RC8_TRIM 1500 +RC9_DZ 0 +RC9_MAX 1900 +RC9_MIN 1100 +RC9_OPTION 0 +RC9_REVERSED 0 +RC9_TRIM 1500 +RCMAP_PITCH 2 +RCMAP_ROLL 1 +RCMAP_THROTTLE 3 +RCMAP_YAW 4 +RC_FS_TIMEOUT 1.000000 +RC_OPTIONS 0 +RC_OVERRIDE_TIME 3.000000 +RC_PROTOCOLS 1 +RC_SPEED 125 +RELAY1_DEFAULT 0 +RELAY1_FUNCTION 1 +RELAY1_INVERTED 0 +RELAY1_PIN 13 +RELAY2_FUNCTION 0 +RELAY3_FUNCTION 0 +RELAY4_FUNCTION 0 +RELAY5_FUNCTION 0 +RELAY6_FUNCTION 0 +RNGFND1_TYPE 0 +RNGFND2_TYPE 0 +RNGFND3_TYPE 0 +RNGFND4_TYPE 0 +RNGFND5_TYPE 0 +RNGFND6_TYPE 0 +RNGFND7_TYPE 0 +RNGFND8_TYPE 0 +RNGFND9_TYPE 0 +RNGFNDA_TYPE 0 +RNGFND_FILT 0.500000 +RPM1_DC_ID -1 +RPM1_ESC_INDEX 0 +RPM1_ESC_MASK 0 +RPM1_MAX 100000.000000 +RPM1_MIN 10.000000 +RPM1_MIN_QUAL 0.500000 +RPM1_PIN -1 +RPM1_SCALING 1.000000 +RPM1_TYPE 10 +RPM2_TYPE 0 +RSSI_TYPE 0 +RTL_ALT 500 +RTL_ALT_FINAL 0 +RTL_ALT_TYPE 0 +RTL_CLIMB_MIN 0 +RTL_CONE_SLOPE 3.000000 +RTL_LOIT_TIME 5000 +RTL_OPTIONS 0 +RTL_SPEED 0 +SCHED_DEBUG 0 +SCHED_LOOP_RATE 400 +SCHED_OPTIONS 0 +SCR_ENABLE 0 +SERIAL0_BAUD 115 +SERIAL0_PROTOCOL 2 +SERIAL1_BAUD 57 +SERIAL1_OPTIONS 0 +SERIAL1_PROTOCOL 2 +SERIAL2_BAUD 57 +SERIAL2_OPTIONS 0 +SERIAL2_PROTOCOL 2 +SERIAL3_BAUD 230 +SERIAL3_OPTIONS 0 +SERIAL3_PROTOCOL 5 +SERIAL4_BAUD 230 +SERIAL4_OPTIONS 0 +SERIAL4_PROTOCOL 5 +SERIAL5_BAUD 57 +SERIAL5_OPTIONS 0 +SERIAL5_PROTOCOL -1 +SERIAL6_BAUD 57 +SERIAL6_OPTIONS 0 +SERIAL6_PROTOCOL -1 +SERIAL7_BAUD 57 +SERIAL7_OPTIONS 0 +SERIAL7_PROTOCOL -1 +SERIAL_PASS1 0 +SERIAL_PASS2 -1 +SERIAL_PASSTIMO 15 +SERVO10_FUNCTION 0 +SERVO10_MAX 1900 +SERVO10_MIN 1100 +SERVO10_REVERSED 0 +SERVO10_TRIM 1500 +SERVO11_FUNCTION 0 +SERVO11_MAX 1900 +SERVO11_MIN 1100 +SERVO11_REVERSED 0 +SERVO11_TRIM 1500 +SERVO12_FUNCTION 0 +SERVO12_MAX 1900 +SERVO12_MIN 1100 +SERVO12_REVERSED 0 +SERVO12_TRIM 1500 +SERVO13_FUNCTION 0 +SERVO13_MAX 1900 +SERVO13_MIN 1100 +SERVO13_REVERSED 0 +SERVO13_TRIM 1500 +SERVO14_FUNCTION 0 +SERVO14_MAX 1900 +SERVO14_MIN 1100 +SERVO14_REVERSED 0 +SERVO14_TRIM 1500 +SERVO15_FUNCTION 0 +SERVO15_MAX 1900 +SERVO15_MIN 1100 +SERVO15_REVERSED 0 +SERVO15_TRIM 1500 +SERVO16_FUNCTION 0 +SERVO16_MAX 1900 +SERVO16_MIN 1100 +SERVO16_REVERSED 0 +SERVO16_TRIM 1500 +SERVO1_FUNCTION 33 +SERVO1_MAX 2000 +SERVO1_MIN 1000 +SERVO1_REVERSED 0 +SERVO1_TRIM 1500 +SERVO2_FUNCTION 34 +SERVO2_MAX 2000 +SERVO2_MIN 1000 +SERVO2_REVERSED 0 +SERVO2_TRIM 1500 +SERVO3_FUNCTION 35 +SERVO3_MAX 2000 +SERVO3_MIN 1000 +SERVO3_REVERSED 0 +SERVO3_TRIM 1500 +SERVO4_FUNCTION 36 +SERVO4_MAX 2000 +SERVO4_MIN 1000 +SERVO4_REVERSED 0 +SERVO4_TRIM 1500 +SERVO5_FUNCTION 37 +SERVO5_MAX 2000 +SERVO5_MIN 1000 +SERVO5_REVERSED 0 +SERVO5_TRIM 1500 +SERVO6_FUNCTION 38 +SERVO6_MAX 2000 +SERVO6_MIN 1000 +SERVO6_REVERSED 0 +SERVO6_TRIM 1500 +SERVO7_FUNCTION 0 +SERVO7_MAX 2000 +SERVO7_MIN 1000 +SERVO7_REVERSED 0 +SERVO7_TRIM 1500 +SERVO8_FUNCTION 31 +SERVO8_MAX 2000 +SERVO8_MIN 1000 +SERVO8_REVERSED 0 +SERVO8_TRIM 1500 +SERVO9_FUNCTION 0 +SERVO9_MAX 1900 +SERVO9_MIN 1100 +SERVO9_REVERSED 0 +SERVO9_TRIM 1500 +SERVO_32_ENABLE 0 +SERVO_DSHOT_ESC 0 +SERVO_DSHOT_RATE 0 +SERVO_FTW_MASK 0 +SERVO_FTW_POLES 14 +SERVO_FTW_RVMASK 0 +SERVO_GPIO_MASK 0 +SERVO_RATE 50 +SERVO_RC_FS_MSK 0 +SERVO_ROB_POSMAX 4095 +SERVO_ROB_POSMIN 0 +SERVO_SBUS_RATE 50 +SERVO_VOLZ_MASK 0 +SERVO_VOLZ_RANGE 200 +SID_AXIS 0 +SIMPLE 0 +SIM_ACC1_BIAS_X 0.000000 +SIM_ACC1_BIAS_Y 0.000000 +SIM_ACC1_BIAS_Z 0.000000 +SIM_ACC1_RND 0.000000 +SIM_ACC1_SCAL_X 0.000000 +SIM_ACC1_SCAL_Y 0.000000 +SIM_ACC1_SCAL_Z 0.000000 +SIM_ACC2_BIAS_X 0.000000 +SIM_ACC2_BIAS_Y 0.000000 +SIM_ACC2_BIAS_Z 0.000000 +SIM_ACC2_RND 0.000000 +SIM_ACC2_SCAL_X 0.000000 +SIM_ACC2_SCAL_Y 0.000000 +SIM_ACC2_SCAL_Z 0.000000 +SIM_ACC3_BIAS_X 0.000000 +SIM_ACC3_BIAS_Y 0.000000 +SIM_ACC3_BIAS_Z 0.000000 +SIM_ACC3_RND 0.000000 +SIM_ACC3_SCAL_X 0.000000 +SIM_ACC3_SCAL_Y 0.000000 +SIM_ACC3_SCAL_Z 0.000000 +SIM_ACCEL1_FAIL 0.000000 +SIM_ACCEL2_FAIL 0.000000 +SIM_ACCEL3_FAIL 0.000000 +SIM_ACC_FAIL_MSK 0 +SIM_ACC_FILE_RW 0 +SIM_ACC_TRIM_X 0.000000 +SIM_ACC_TRIM_Y 0.000000 +SIM_ACC_TRIM_Z 0.000000 +SIM_ADSB_ALT 1000.000000 +SIM_ADSB_COUNT -1 +SIM_ADSB_RADIUS 10000.000000 +SIM_ADSB_TX 0 +SIM_ADSB_TYPES 1 +SIM_ARSPD2_FAIL 0.000000 +SIM_ARSPD2_FAILP 0.000000 +SIM_ARSPD2_OFS 2013.000000 +SIM_ARSPD2_PITOT 0.000000 +SIM_ARSPD2_RATIO 1.990000 +SIM_ARSPD2_RND 2.000000 +SIM_ARSPD2_SIGN 0 +SIM_ARSPD_FAIL 0.000000 +SIM_ARSPD_FAILP 0.000000 +SIM_ARSPD_OFS 2013.000000 +SIM_ARSPD_PITOT 0.000000 +SIM_ARSPD_RATIO 1.990000 +SIM_ARSPD_RND 2.000000 +SIM_ARSPD_SIGN 0 +SIM_BAR2_DELAY 0 +SIM_BAR2_DISABLE 0 +SIM_BAR2_DRIFT 0.000000 +SIM_BAR2_FREEZE 0 +SIM_BAR2_GLITCH 0.000000 +SIM_BAR2_RND 0.200000 +SIM_BAR2_WCF_BAK 0.000000 +SIM_BAR2_WCF_DN 0.000000 +SIM_BAR2_WCF_FWD 0.000000 +SIM_BAR2_WCF_LFT 0.000000 +SIM_BAR2_WCF_RGT 0.000000 +SIM_BAR2_WCF_UP 0.000000 +SIM_BAR3_DELAY 0 +SIM_BAR3_DISABLE 0 +SIM_BAR3_DRIFT 0.000000 +SIM_BAR3_FREEZE 0 +SIM_BAR3_GLITCH 0.000000 +SIM_BAR3_RND 0.200000 +SIM_BAR3_WCF_BAK 0.000000 +SIM_BAR3_WCF_DN 0.000000 +SIM_BAR3_WCF_FWD 0.000000 +SIM_BAR3_WCF_LFT 0.000000 +SIM_BAR3_WCF_RGT 0.000000 +SIM_BAR3_WCF_UP 0.000000 +SIM_BARO_COUNT 2 +SIM_BARO_DELAY 0 +SIM_BARO_DISABLE 0 +SIM_BARO_DRIFT 0.000000 +SIM_BARO_FREEZE 0 +SIM_BARO_GLITCH 0.000000 +SIM_BARO_RND 0.200000 +SIM_BARO_WCF_BAK 0.000000 +SIM_BARO_WCF_DN 0.000000 +SIM_BARO_WCF_FWD 0.000000 +SIM_BARO_WCF_LFT 0.000000 +SIM_BARO_WCF_RGT 0.000000 +SIM_BARO_WCF_UP 0.000000 +SIM_BATT_CAP_AH 0.000000 +SIM_BATT_VOLTAGE 12.600000 +SIM_BAUDLIMIT_EN 0 +SIM_CAN_SRV_MSK 0 +SIM_CAN_TYPE1 1 +SIM_CAN_TYPE2 1 +SIM_CLAMP_CH 0 +SIM_DRIFT_SPEED 0.050000 +SIM_DRIFT_TIME 5.000000 +SIM_EFI_TYPE 0 +SIM_ENGINE_FAIL 0 +SIM_ENGINE_MUL 0.000000 +SIM_ESC_ARM_RPM 0.000000 +SIM_ESC_TELEM 1 +SIM_FLOAT_EXCEPT 1 +SIM_FLOW_DELAY 0 +SIM_FLOW_ENABLE 0 +SIM_FLOW_POS_X 0.000000 +SIM_FLOW_POS_Y 0.000000 +SIM_FLOW_POS_Z 0.000000 +SIM_FLOW_RATE 10 +SIM_FLOW_RND 0.050000 +SIM_FTOWESC_ENA 0 +SIM_FTOWESC_POW 4095 +SIM_GND_BEHAV -1 +SIM_GPS1_ACC 0.300000 +SIM_GPS1_ALT_OFS 0 +SIM_GPS1_BYTELOS 0.000000 +SIM_GPS1_DRFTALT 0.000000 +SIM_GPS1_ENABLE 1 +SIM_GPS1_GLTCH_X 0.000000 +SIM_GPS1_GLTCH_Y 0.000000 +SIM_GPS1_GLTCH_Z 0.000000 +SIM_GPS1_HDG 0 +SIM_GPS1_HDG_OFS 0.000000 +SIM_GPS1_HZ 5 +SIM_GPS1_JAM 0 +SIM_GPS1_LAG_MS 100 +SIM_GPS1_LCKTIME 0 +SIM_GPS1_NOISE 0.000000 +SIM_GPS1_NUMSATS 10 +SIM_GPS1_POS_X 0.000000 +SIM_GPS1_POS_Y 0.000000 +SIM_GPS1_POS_Z 0.000000 +SIM_GPS1_TYPE 1 +SIM_GPS1_VERR_X 0.000000 +SIM_GPS1_VERR_Y 0.000000 +SIM_GPS1_VERR_Z 0.000000 +SIM_GPS2_ENABLE 0 +SIM_GPS3_ENABLE 0 +SIM_GPS4_ENABLE 0 +SIM_GPS_LOG_NUM 0 +SIM_GRPE_ENABLE 0 +SIM_GRPE_PIN -1 +SIM_GRPS_ENABLE 0 +SIM_GRPS_GRAB 2000 +SIM_GRPS_PIN -1 +SIM_GRPS_RELEASE 1000 +SIM_GRPS_REVERSE 0 +SIM_GYR1_BIAS_X 0.000000 +SIM_GYR1_BIAS_Y 0.000000 +SIM_GYR1_BIAS_Z 0.000000 +SIM_GYR1_RND 0.000000 +SIM_GYR1_SCALE_X 0.000000 +SIM_GYR1_SCALE_Y 0.000000 +SIM_GYR1_SCALE_Z 0.000000 +SIM_GYR2_BIAS_X 0.000000 +SIM_GYR2_BIAS_Y 0.000000 +SIM_GYR2_BIAS_Z 0.000000 +SIM_GYR2_RND 0.000000 +SIM_GYR2_SCALE_X 0.000000 +SIM_GYR2_SCALE_Y 0.000000 +SIM_GYR2_SCALE_Z 0.000000 +SIM_GYR3_BIAS_X 0.000000 +SIM_GYR3_BIAS_Y 0.000000 +SIM_GYR3_BIAS_Z 0.000000 +SIM_GYR3_RND 0.000000 +SIM_GYR3_SCALE_X 0.000000 +SIM_GYR3_SCALE_Y 0.000000 +SIM_GYR3_SCALE_Z 0.000000 +SIM_GYR_FAIL_MSK 0 +SIM_GYR_FILE_RW 0 +SIM_IE24_ENABLE 0 +SIM_IE24_ERROR 0 +SIM_IE24_STATE -1 +SIM_IMUT1_ENABLE 0 +SIM_IMUT2_ENABLE 0 +SIM_IMUT3_ENABLE 0 +SIM_IMUT_END 45.000000 +SIM_IMUT_FIXED 0.000000 +SIM_IMUT_START 25.000000 +SIM_IMUT_TCONST 300.000000 +SIM_IMU_COUNT 2 +SIM_IMU_ORIENT 0 +SIM_IMU_POS_X 0.000000 +SIM_IMU_POS_Y 0.000000 +SIM_IMU_POS_Z 0.000000 +SIM_INIT_ALT_OFS 0.000000 +SIM_INIT_LAT_OFS 0.000000 +SIM_INIT_LON_OFS 0.000000 +SIM_INS_THR_MIN 0.100000 +SIM_JSON_MASTER 0 +SIM_LED_LAYOUT 0 +SIM_LOOP_DELAY 0 +SIM_MAG1_DEVID 97539 +SIM_MAG1_DIA_X 0.000000 +SIM_MAG1_DIA_Y 0.000000 +SIM_MAG1_DIA_Z 0.000000 +SIM_MAG1_FAIL 0 +SIM_MAG1_ODI_X 0.000000 +SIM_MAG1_ODI_Y 0.000000 +SIM_MAG1_ODI_Z 0.000000 +SIM_MAG1_OFS_X 5.000000 +SIM_MAG1_OFS_Y 13.000000 +SIM_MAG1_OFS_Z -18.000000 +SIM_MAG1_ORIENT 0 +SIM_MAG1_SCALING 1.000000 +SIM_MAG2_DEVID 131874 +SIM_MAG2_DIA_X 0.000000 +SIM_MAG2_DIA_Y 0.000000 +SIM_MAG2_DIA_Z 0.000000 +SIM_MAG2_FAIL 0 +SIM_MAG2_ODI_X 0.000000 +SIM_MAG2_ODI_Y 0.000000 +SIM_MAG2_ODI_Z 0.000000 +SIM_MAG2_OFS_X 5.000000 +SIM_MAG2_OFS_Y 13.000000 +SIM_MAG2_OFS_Z -18.000000 +SIM_MAG2_ORIENT 0 +SIM_MAG2_SCALING 1.000000 +SIM_MAG3_DEVID 263178 +SIM_MAG3_DIA_X 0.000000 +SIM_MAG3_DIA_Y 0.000000 +SIM_MAG3_DIA_Z 0.000000 +SIM_MAG3_FAIL 0 +SIM_MAG3_ODI_X 0.000000 +SIM_MAG3_ODI_Y 0.000000 +SIM_MAG3_ODI_Z 0.000000 +SIM_MAG3_OFS_X 5.000000 +SIM_MAG3_OFS_Y 13.000000 +SIM_MAG3_OFS_Z -18.000000 +SIM_MAG3_ORIENT 0 +SIM_MAG3_SCALING 1.000000 +SIM_MAG4_DEVID 97283 +SIM_MAG5_DEVID 97795 +SIM_MAG6_DEVID 98051 +SIM_MAG7_DEVID 0 +SIM_MAG8_DEVID 0 +SIM_MAG_ALY_HGT 1.000000 +SIM_MAG_ALY_X 0.000000 +SIM_MAG_ALY_Y 0.000000 +SIM_MAG_ALY_Z 0.000000 +SIM_MAG_DELAY 0 +SIM_MAG_MOT_X 0.000000 +SIM_MAG_MOT_Y 0.000000 +SIM_MAG_MOT_Z 0.000000 +SIM_MAG_RND 0.000000 +SIM_MAG_SAVE_IDS 1 +SIM_ODOM_ENABLE 0 +SIM_OH_MASK 0 +SIM_OH_RELAY_MSK -1 +SIM_OPOS_ALT 584.000000 +SIM_OPOS_HDG 353.000000 +SIM_OPOS_LAT -35.363262 +SIM_OPOS_LNG 149.165237 +SIM_PARA_ENABLE 0 +SIM_PARA_PIN -1 +SIM_PIN_MASK 0 +SIM_PLD_ALT_LMT 15.000000 +SIM_PLD_DIST_LMT 10.000000 +SIM_PLD_ENABLE 0 +SIM_PLD_HEIGHT 0.000000 +SIM_PLD_LAT 0.000000 +SIM_PLD_LON 0.000000 +SIM_PLD_OPTIONS 0 +SIM_PLD_ORIENT 24 +SIM_PLD_RATE 100 +SIM_PLD_SHIP 0 +SIM_PLD_TYPE 0 +SIM_PLD_YAW 0 +SIM_RATE_HZ 1200 +SIM_RC_CHANCOUNT 16 +SIM_RC_FAIL 0 +SIM_RICH_CTRL -1 +SIM_RICH_ENABLE 0 +SIM_SERVO_DELAY 0.000000 +SIM_SERVO_FILTER 0.000000 +SIM_SERVO_SPEED 0.140000 +SIM_SHIP_DSIZE 10.000000 +SIM_SHIP_ENABLE 0 +SIM_SHIP_OFS_X 0.000000 +SIM_SHIP_OFS_Y 0.000000 +SIM_SHIP_OFS_Z 0.000000 +SIM_SHIP_PSIZE 1000.000000 +SIM_SHIP_SPEED 3.000000 +SIM_SHIP_SYSID 17 +SIM_SHOVE_TIME 0 +SIM_SHOVE_X 0.000000 +SIM_SHOVE_Y 0.000000 +SIM_SHOVE_Z 0.000000 +SIM_SLUP_ENABLE 0 +SIM_SONAR_GLITCH 0.000000 +SIM_SONAR_POS_X 0.000000 +SIM_SONAR_POS_Y 0.000000 +SIM_SONAR_POS_Z 0.000000 +SIM_SONAR_RND 0.000000 +SIM_SONAR_ROT 25 +SIM_SONAR_SCALE 12.121200 +SIM_SPEEDUP 1.000000 +SIM_SPR_ENABLE 0 +SIM_SPR_PUMP -1 +SIM_SPR_SPIN -1 +SIM_TA_ENABLE 1 +SIM_TEMP_BFACTOR 0.000000 +SIM_TEMP_BRD_OFF 20.000000 +SIM_TEMP_START 25.000000 +SIM_TEMP_TCONST 30.000000 +SIM_TERRAIN 1 +SIM_TETH_ENABLE 0 +SIM_THML_SCENARI 0 +SIM_TIDE_DIR 0.000000 +SIM_TIDE_SPEED 0.000000 +SIM_TIME_JITTER 0 +SIM_TWIST_TIME 0 +SIM_TWIST_X 0.000000 +SIM_TWIST_Y 0.000000 +SIM_TWIST_Z 0.000000 +SIM_UART_LOSS 0.000000 +SIM_VIB_FREQ_X 0.000000 +SIM_VIB_FREQ_Y 0.000000 +SIM_VIB_FREQ_Z 0.000000 +SIM_VIB_MOT_HMNC 1 +SIM_VIB_MOT_MASK 0 +SIM_VIB_MOT_MAX 0.000000 +SIM_VIB_MOT_MULT 1.000000 +SIM_VICON_FAIL 0 +SIM_VICON_GLIT_X 0.000000 +SIM_VICON_GLIT_Y 0.000000 +SIM_VICON_GLIT_Z 0.000000 +SIM_VICON_POS_X 0.000000 +SIM_VICON_POS_Y 0.000000 +SIM_VICON_POS_Z 0.000000 +SIM_VICON_P_SD 0.000000 +SIM_VICON_RATE 50 +SIM_VICON_TMASK 3 +SIM_VICON_VGLI_X 0.000000 +SIM_VICON_VGLI_Y 0.000000 +SIM_VICON_VGLI_Z 0.000000 +SIM_VICON_V_SD 0.000000 +SIM_VICON_YAW 0 +SIM_VICON_YAWERR 0 +SIM_VOLZ_ENA 0 +SIM_VOLZ_FMASK 0 +SIM_VOLZ_MASK 11 +SIM_WAVE_AMP 0.500000 +SIM_WAVE_DIR 0.000000 +SIM_WAVE_ENABLE 0 +SIM_WAVE_LENGTH 10.000000 +SIM_WAVE_SPEED 0.500000 +SIM_WIND_DIR 180.000000 +SIM_WIND_DIR_Z 0.000000 +SIM_WIND_SPD 0.000000 +SIM_WIND_T 0 +SIM_WIND_TC 5.000000 +SIM_WIND_TURB 0.000000 +SIM_WIND_T_ALT 60.000000 +SIM_WIND_T_COEF 0.010000 +SIM_WOW_PIN -1 +SPRAY_ENABLE 0 +SRTL_ACCURACY 2.000000 +SRTL_OPTIONS 0 +SRTL_POINTS 300 +STAT_BOOTCNT 195.000000 +STAT_FLTTIME 25406.000000 +STAT_RESET 1 +STAT_RUNTIME 153448.000000 +SUPER_SIMPLE 0 +SURFTRAK_MODE 1 +SURFTRAK_TC 1.000000 +TCAL_ENABLED 0 +TEMP1_TYPE 0 +TEMP2_TYPE 0 +TEMP3_TYPE 0 +TEMP_LOG 0 +TERRAIN_CACHE_SZ 12 +TERRAIN_ENABLE 1 +TERRAIN_MARGIN 0.050000 +TERRAIN_OFS_MAX 30.000000 +TERRAIN_OPTIONS 0 +TERRAIN_SPACING 100 +THROW_ALT_ACSND 3.000000 +THROW_ALT_DCSND 1.000000 +THROW_ALT_MAX 0 +THROW_ALT_MIN 0 +THROW_MOT_START 0 +THROW_NEXTMODE 18 +THROW_TYPE 0 +THR_DZ 100 +TKOFF_SLEW_TIME 2.000000 +TKOFF_THR_MAX 0.900000 +TUNE 0 +TUNE_MAX 0.000000 +TUNE_MIN 0.000000 +VISO_TYPE 0 +VTX_ENABLE 0 +WINCH_TYPE 0 +WPNAV_ACCEL 250.000000 +WPNAV_ACCEL_C 0.000000 +WPNAV_ACCEL_Z 100.000000 +WPNAV_JERK 1.000000 +WPNAV_RADIUS 200.000000 +WPNAV_RFND_USE 1 +WPNAV_SPEED 1000.000000 +WPNAV_SPEED_DN 150.000000 +WPNAV_SPEED_UP 250.000000 +WPNAV_TER_MARGIN 10.000000 +WP_NAVALT_MIN 0.000000 +WP_YAW_BEHAVIOR 3 +WVANE_ENABLE 0 +ZIGZ_AUTO_ENABLE 0 diff --git a/Gazebo/config/heli_dual_transverse.yaml b/Gazebo/config/heli_dual_transverse.yaml new file mode 100644 index 00000000..9995b7bc --- /dev/null +++ b/Gazebo/config/heli_dual_transverse.yaml @@ -0,0 +1,78 @@ +--- +- ros_topic_name: "clock" + gz_topic_name: "/clock" + ros_type_name: "rosgraph_msgs/msg/Clock" + gz_type_name: "gz.msgs.Clock" + direction: GZ_TO_ROS + +- ros_topic_name: "/rotor_cw/joint_state" + gz_topic_name: "/world/empty/model/helicopter_dual_transverse/model/rotor_head_cw/joint_state" + ros_type_name: "sensor_msgs/msg/JointState" + gz_type_name: "gz.msgs.Model" + direction: GZ_TO_ROS + +- ros_topic_name: "/rotor_ccw/joint_state" + gz_topic_name: "/world/empty/model/helicopter_dual_transverse/model/rotor_head_ccw/joint_state" + ros_type_name: "sensor_msgs/msg/JointState" + gz_type_name: "gz.msgs.Model" + direction: GZ_TO_ROS + +- ros_topic_name: "/rotor_ccw/servo_arm_1/cmd_pos" + gz_topic_name: "/model/rotor_head_ccw/joint/servo_arm_1_joint/0/cmd_pos" + ros_type_name: "std_msgs/msg/Float64" + gz_type_name: "gz.msgs.Double" + direction: GZ_TO_ROS + +- ros_topic_name: "/rotor_ccw/servo_arm_2/cmd_pos" + gz_topic_name: "/model/rotor_head_ccw/joint/servo_arm_2_joint/0/cmd_pos" + ros_type_name: "std_msgs/msg/Float64" + gz_type_name: "gz.msgs.Double" + direction: GZ_TO_ROS + +- ros_topic_name: "/rotor_ccw/servo_arm_3/cmd_pos" + gz_topic_name: "/model/rotor_head_ccw/joint/servo_arm_3_joint/0/cmd_pos" + ros_type_name: "std_msgs/msg/Float64" + gz_type_name: "gz.msgs.Double" + direction: GZ_TO_ROS + +- ros_topic_name: "/rotor_cw/servo_arm_1/cmd_pos" + gz_topic_name: "/model/rotor_head_cw/joint/servo_arm_1_joint/0/cmd_pos" + ros_type_name: "std_msgs/msg/Float64" + gz_type_name: "gz.msgs.Double" + direction: GZ_TO_ROS + +- ros_topic_name: "/rotor_cw/servo_arm_2/cmd_pos" + gz_topic_name: "/model/rotor_head_cw/joint/servo_arm_2_joint/0/cmd_pos" + ros_type_name: "std_msgs/msg/Float64" + gz_type_name: "gz.msgs.Double" + direction: GZ_TO_ROS + +- ros_topic_name: "/rotor_cw/servo_arm_3/cmd_pos" + gz_topic_name: "/model/rotor_head_cw/joint/servo_arm_3_joint/0/cmd_pos" + ros_type_name: "std_msgs/msg/Float64" + gz_type_name: "gz.msgs.Double" + direction: GZ_TO_ROS + +- ros_topic_name: "/rotor_ccw/cmd_vel" + gz_topic_name: "/model/rotor_head_ccw/joint/main_joint/cmd_vel" + ros_type_name: "std_msgs/msg/Float64" + gz_type_name: "gz.msgs.Double" + direction: GZ_TO_ROS + +- ros_topic_name: "/rotor_cw/cmd_vel" + gz_topic_name: "/model/rotor_head_cw/joint/main_joint/cmd_vel" + ros_type_name: "std_msgs/msg/Float64" + gz_type_name: "gz.msgs.Double" + direction: GZ_TO_ROS + +- ros_topic_name: "/rotor_ccw/forcetorque" + gz_topic_name: "/world/empty/model/gimbal/model/helicopter_dual_transverse/model/rotor_head_ccw/joint/main_joint/sensor/force_torque/forcetorque" + ros_type_name: "geometry_msgs/msg/WrenchStamped" + gz_type_name: "gz.msgs.Wrench" + direction: GZ_TO_ROS + +- ros_topic_name: "/rotor_cw/forcetorque" + gz_topic_name: "/world/empty/model/gimbal/model/helicopter_dual_transverse/model/rotor_head_cw/joint/main_joint/sensor/force_torque/forcetorque" + ros_type_name: "geometry_msgs/msg/WrenchStamped" + gz_type_name: "gz.msgs.Wrench" + direction: GZ_TO_ROS diff --git a/Gazebo/config/helicopter.param b/Gazebo/config/helicopter.param new file mode 100644 index 00000000..7665c01e --- /dev/null +++ b/Gazebo/config/helicopter.param @@ -0,0 +1,1395 @@ +ACRO_BAL_PITCH 1.000000 +ACRO_BAL_ROLL 1.000000 +ACRO_OPTIONS 0 +ACRO_RP_EXPO 0.300000 +ACRO_RP_RATE 360.000000 +ACRO_RP_RATE_TC 0.000000 +ACRO_THR_MID 0.000000 +ACRO_TRAINER 2 +ACRO_Y_EXPO 0.000000 +ACRO_Y_RATE 202.500000 +ACRO_Y_RATE_TC 0.000000 +ADSB_TYPE 0 +AHRS_COMP_BETA 0.100000 +AHRS_EKF_TYPE 3 +AHRS_GPS_GAIN 1.000000 +AHRS_GPS_MINSATS 6 +AHRS_GPS_USE 1 +AHRS_OPTIONS 0 +AHRS_ORIENTATION 0 +AHRS_RP_P 0.200000 +AHRS_TRIM_X 0.000000 +AHRS_TRIM_Y -0.010000 +AHRS_TRIM_Z 0.000000 +AHRS_WIND_MAX 0 +AHRS_YAW_P 0.200000 +ANGLE_MAX 3000 +ARMING_ACCTHRESH 0.750000 +ARMING_CHECK 1 +ARMING_MAGTHRESH 100 +ARMING_MIS_ITEMS 0 +ARMING_NEED_LOC 0 +ARMING_OPTIONS 0 +ARMING_RUDDER 2 +AROT_ENABLE 0 +ARSPD_ENABLE 0 +ATC_ACCEL_P_MAX 60000.000000 +ATC_ACCEL_R_MAX 60000.000000 +ATC_ACCEL_Y_MAX 60000.000000 +ATC_ANGLE_BOOST 1 +ATC_ANG_LIM_TC 1.000000 +ATC_ANG_PIT_P 5.000000 +ATC_ANG_RLL_P 5.000000 +ATC_ANG_YAW_P 5.000000 +ATC_HOVR_ROL_TRM 380 +ATC_INPUT_TC 0.150000 +ATC_LAND_P_MULT 1.000000 +ATC_LAND_R_MULT 1.000000 +ATC_LAND_Y_MULT 1.000000 +ATC_PIRO_COMP 0 +ATC_RATE_FF_ENAB 1 +ATC_RATE_P_MAX 0.000000 +ATC_RATE_R_MAX 0.000000 +ATC_RATE_Y_MAX 0.000000 +ATC_RAT_PIT_D 0.010000 +ATC_RAT_PIT_D_FF 0.000000 +ATC_RAT_PIT_FF 0.050000 +ATC_RAT_PIT_FLTD 0.000000 +ATC_RAT_PIT_FLTE 20.000000 +ATC_RAT_PIT_FLTT 20.000000 +ATC_RAT_PIT_I 0.050000 +ATC_RAT_PIT_ILMI 0.100000 +ATC_RAT_PIT_IMAX 0.400000 +ATC_RAT_PIT_NEF 0 +ATC_RAT_PIT_NTF 0 +ATC_RAT_PIT_P 0.010000 +ATC_RAT_PIT_PDMX 0.000000 +ATC_RAT_PIT_SMAX 0.000000 +ATC_RAT_RLL_D 0.010000 +ATC_RAT_RLL_D_FF 0.000000 +ATC_RAT_RLL_FF 0.200000 +ATC_RAT_RLL_FLTD 0.000000 +ATC_RAT_RLL_FLTE 20.000000 +ATC_RAT_RLL_FLTT 20.000000 +ATC_RAT_RLL_I 0.200000 +ATC_RAT_RLL_ILMI 0.110000 +ATC_RAT_RLL_IMAX 0.400000 +ATC_RAT_RLL_NEF 0 +ATC_RAT_RLL_NTF 0 +ATC_RAT_RLL_P 0.005000 +ATC_RAT_RLL_PDMX 0.000000 +ATC_RAT_RLL_SMAX 0.000000 +ATC_RAT_YAW_D 0.006000 +ATC_RAT_YAW_D_FF 0.000000 +ATC_RAT_YAW_FF 0.000000 +ATC_RAT_YAW_FLTD 0.000000 +ATC_RAT_YAW_FLTE 0.000000 +ATC_RAT_YAW_FLTT 20.000000 +ATC_RAT_YAW_I 0.060000 +ATC_RAT_YAW_ILMI 0.000000 +ATC_RAT_YAW_IMAX 1.000000 +ATC_RAT_YAW_NEF 0 +ATC_RAT_YAW_NTF 0 +ATC_RAT_YAW_P 0.600000 +ATC_RAT_YAW_PDMX 0.000000 +ATC_RAT_YAW_SMAX 0.000000 +ATC_SLEW_YAW 6000.000000 +AUTOTUNE_ACC_MAX 0.000000 +AUTOTUNE_AXES 1 +AUTOTUNE_FRQ_MAX 70.000000 +AUTOTUNE_FRQ_MIN 10.000000 +AUTOTUNE_GN_MAX 1.000000 +AUTOTUNE_RAT_MAX 0.000000 +AUTOTUNE_SEQ 3 +AUTOTUNE_VELXY_P 0.100000 +AUTO_OPTIONS 0 +AVD_ENABLE 0 +AVOID_ACCEL_MAX 3.000000 +AVOID_ALT_MIN 0.000000 +AVOID_ANGLE_MAX 1000 +AVOID_BACKUP_DZ 0.100000 +AVOID_BACKUP_SPD 0.750000 +AVOID_BACKZ_SPD 0.750000 +AVOID_BEHAVE 0 +AVOID_DIST_MAX 5.000000 +AVOID_ENABLE 3 +AVOID_MARGIN 2.000000 +BARO1_DEVID 65540 +BARO1_GND_PRESS 101324.062500 +BARO1_WCF_ENABLE 0 +BARO2_DEVID 65796 +BARO2_GND_PRESS 101324.187500 +BARO2_WCF_ENABLE 0 +BARO3_DEVID 0 +BARO3_GND_PRESS 0.000000 +BARO3_WCF_ENABLE 0 +BARO_ALTERR_MAX 2000.000000 +BARO_ALT_OFFSET 0.000000 +BARO_EXT_BUS -1 +BARO_FIELD_ELV 0.000000 +BARO_FLTR_RNG 0 +BARO_GND_TEMP 0.000000 +BARO_OPTIONS 0 +BARO_PRIMARY 0 +BARO_PROBE_EXT 0 +BATT2_MONITOR 0 +BATT3_MONITOR 0 +BATT4_MONITOR 0 +BATT5_MONITOR 0 +BATT6_MONITOR 0 +BATT7_MONITOR 0 +BATT8_MONITOR 0 +BATT9_MONITOR 0 +BATT_AMP_OFFSET 0.000000 +BATT_AMP_PERVLT 17.000000 +BATT_ARM_MAH 0 +BATT_ARM_VOLT 0.000000 +BATT_CAPACITY 3300 +BATT_CRT_MAH 0.000000 +BATT_CRT_VOLT 0.000000 +BATT_CURR_PIN 12 +BATT_FS_CRT_ACT 0 +BATT_FS_LOW_ACT 0 +BATT_FS_VOLTSRC 0 +BATT_LOW_MAH 0.000000 +BATT_LOW_TIMER 10 +BATT_LOW_VOLT 10.500000 +BATT_MONITOR 4 +BATT_OPTIONS 0 +BATT_SERIAL_NUM -1 +BATT_VLT_OFFSET 0.000000 +BATT_VOLT_MULT 10.100000 +BATT_VOLT_PIN 13 +BCN_TYPE 0 +BRD_BOOT_DELAY 0 +BRD_OPTIONS 0 +BRD_RTC_TYPES 1 +BRD_RTC_TZ_MIN 0 +BRD_SAFETYOPTION 3 +BRD_SAFETY_DEFLT 0 +BRD_SAFETY_MASK 0 +BRD_SD_FENCE 0 +BRD_SD_MISSION 0 +BRD_SERIAL_NUM 0 +BRD_VBUS_MIN 4.300000 +BRD_VSERVO_MIN 0.000000 +BTN_ENABLE 0 +CAM1_TYPE 0 +CAM2_TYPE 0 +CAM_AUTO_ONLY 0 +CAM_MAX_ROLL 0 +CAN_D1_PROTOCOL 1 +CAN_D1_PROTOCOL2 0 +CAN_D2_PROTOCOL 1 +CAN_D2_PROTOCOL2 0 +CAN_LOGLEVEL 0 +CAN_P1_DRIVER 0 +CAN_P2_DRIVER 0 +CHUTE_ENABLED 0 +CIRCLE_OPTIONS 1 +CIRCLE_RADIUS 1000.000000 +CIRCLE_RATE 20.000000 +COMPASS_AUTODEC 1 +COMPASS_AUTO_ROT 2 +COMPASS_CAL_FIT 16.000000 +COMPASS_DEC 0.000000 +COMPASS_DEV_ID 97539 +COMPASS_DEV_ID2 131874 +COMPASS_DEV_ID3 263178 +COMPASS_DEV_ID4 97283 +COMPASS_DEV_ID5 97795 +COMPASS_DEV_ID6 98051 +COMPASS_DEV_ID7 0 +COMPASS_DEV_ID8 0 +COMPASS_DIA2_X 1.000000 +COMPASS_DIA2_Y 1.000000 +COMPASS_DIA2_Z 1.000000 +COMPASS_DIA3_X 1.000000 +COMPASS_DIA3_Y 1.000000 +COMPASS_DIA3_Z 1.000000 +COMPASS_DIA_X 1.000000 +COMPASS_DIA_Y 1.000000 +COMPASS_DIA_Z 1.000000 +COMPASS_DISBLMSK 0 +COMPASS_ENABLE 1 +COMPASS_EXTERN2 0 +COMPASS_EXTERN3 0 +COMPASS_EXTERNAL 1 +COMPASS_FLTR_RNG 0 +COMPASS_LEARN 0 +COMPASS_MOT2_X 0.000000 +COMPASS_MOT2_Y 0.000000 +COMPASS_MOT2_Z 0.000000 +COMPASS_MOT3_X 0.000000 +COMPASS_MOT3_Y 0.000000 +COMPASS_MOT3_Z 0.000000 +COMPASS_MOTCT 0 +COMPASS_MOT_X 0.000000 +COMPASS_MOT_Y 0.000000 +COMPASS_MOT_Z 0.000000 +COMPASS_ODI2_X 0.000000 +COMPASS_ODI2_Y 0.000000 +COMPASS_ODI2_Z 0.000000 +COMPASS_ODI3_X 0.000000 +COMPASS_ODI3_Y 0.000000 +COMPASS_ODI3_Z 0.000000 +COMPASS_ODI_X 0.000000 +COMPASS_ODI_Y 0.000000 +COMPASS_ODI_Z 0.000000 +COMPASS_OFFS_MAX 1800 +COMPASS_OFS2_X 5.000000 +COMPASS_OFS2_Y 13.000000 +COMPASS_OFS2_Z -18.000000 +COMPASS_OFS3_X 1.000000 +COMPASS_OFS3_Y 1.000000 +COMPASS_OFS3_Z 1.000000 +COMPASS_OFS_X 2.874900 +COMPASS_OFS_Y -21.826200 +COMPASS_OFS_Z -21.842199 +COMPASS_OPTIONS 0 +COMPASS_ORIENT 0 +COMPASS_ORIENT2 0 +COMPASS_ORIENT3 0 +COMPASS_PMOT_EN 0 +COMPASS_PRIO1_ID 97539 +COMPASS_PRIO2_ID 131874 +COMPASS_PRIO3_ID 263178 +COMPASS_SCALE 1.000000 +COMPASS_SCALE2 1.000000 +COMPASS_SCALE3 1.000000 +COMPASS_USE 1 +COMPASS_USE2 1 +COMPASS_USE3 1 +CUST_ROT_ENABLE 0 +DEV_OPTIONS 0 +DID_ENABLE 0 +DISARM_DELAY 10 +EAHRS_TYPE 0 +EFI_TYPE 0 +EK2_ENABLE 0 +EK3_ABIAS_P_NSE 0.020000 +EK3_ACC_BIAS_LIM 1.000000 +EK3_ACC_P_NSE 0.350000 +EK3_AFFINITY 0 +EK3_ALT_M_NSE 2.000000 +EK3_BCN_DELAY 50 +EK3_BCN_I_GTE 500 +EK3_BCN_M_NSE 1.000000 +EK3_BETA_MASK 0 +EK3_CHECK_SCALE 100 +EK3_DRAG_BCOEF_X 0.000000 +EK3_DRAG_BCOEF_Y 0.000000 +EK3_DRAG_MCOEF 0.000000 +EK3_DRAG_M_NSE 0.500000 +EK3_EAS_I_GATE 400 +EK3_EAS_M_NSE 1.400000 +EK3_ENABLE 1 +EK3_ERR_THRESH 0.200000 +EK3_FLOW_DELAY 10 +EK3_FLOW_I_GATE 300 +EK3_FLOW_M_NSE 0.250000 +EK3_FLOW_USE 1 +EK3_GBIAS_P_NSE 0.001000 +EK3_GLITCH_RAD 25 +EK3_GND_EFF_DZ 4.000000 +EK3_GPS_CHECK 31 +EK3_GPS_VACC_MAX 0.000000 +EK3_GSF_RST_MAX 2 +EK3_GSF_RUN_MASK 3 +EK3_GSF_USE_MASK 3 +EK3_GYRO_P_NSE 0.015000 +EK3_HGT_DELAY 60 +EK3_HGT_I_GATE 500 +EK3_HRT_FILT 2.000000 +EK3_IMU_MASK 3 +EK3_LOG_LEVEL 0 +EK3_MAGB_P_NSE 0.000100 +EK3_MAGE_P_NSE 0.001000 +EK3_MAG_CAL 3 +EK3_MAG_EF_LIM 50 +EK3_MAG_I_GATE 300 +EK3_MAG_MASK 0 +EK3_MAG_M_NSE 0.050000 +EK3_MAX_FLOW 2.500000 +EK3_NOAID_M_NSE 10.000000 +EK3_OGNM_TEST_SF 2.000000 +EK3_OGN_HGT_MASK 0 +EK3_OPTIONS 0 +EK3_POSNE_M_NSE 0.500000 +EK3_POS_I_GATE 500 +EK3_PRIMARY 0 +EK3_RNG_I_GATE 500 +EK3_RNG_M_NSE 0.500000 +EK3_RNG_USE_HGT -1 +EK3_RNG_USE_SPD 2.000000 +EK3_SRC1_POSXY 3 +EK3_SRC1_POSZ 1 +EK3_SRC1_VELXY 3 +EK3_SRC1_VELZ 3 +EK3_SRC1_YAW 1 +EK3_SRC2_POSXY 0 +EK3_SRC2_POSZ 1 +EK3_SRC2_VELXY 0 +EK3_SRC2_VELZ 0 +EK3_SRC2_YAW 0 +EK3_SRC3_POSXY 0 +EK3_SRC3_POSZ 1 +EK3_SRC3_VELXY 0 +EK3_SRC3_VELZ 0 +EK3_SRC3_YAW 0 +EK3_SRC_OPTIONS 1 +EK3_TAU_OUTPUT 25 +EK3_TERR_GRAD 0.100000 +EK3_VELD_M_NSE 0.500000 +EK3_VELNE_M_NSE 0.300000 +EK3_VEL_I_GATE 500 +EK3_VIS_VERR_MAX 0.900000 +EK3_VIS_VERR_MIN 0.100000 +EK3_WENC_VERR 0.100000 +EK3_WIND_PSCALE 1.000000 +EK3_WIND_P_NSE 0.200000 +EK3_YAW_I_GATE 300 +EK3_YAW_M_NSE 0.500000 +ESC_CALIBRATION 0 +ESC_TLM_MAV_OFS 0 +FENCE_ACTION 1 +FENCE_ALT_MAX 100.000000 +FENCE_ALT_MIN -10.000000 +FENCE_AUTOENABLE 0 +FENCE_ENABLE 0 +FENCE_MARGIN 2.000000 +FENCE_NTF_FREQ 1.000000 +FENCE_OPTIONS 0 +FENCE_RADIUS 300.000000 +FENCE_TOTAL 0 +FENCE_TYPE 7 +FFT_ENABLE 0 +FHLD_BRAKE_RATE 8 +FHLD_FILT_HZ 5.000000 +FHLD_FLOW_MAX 0.600000 +FHLD_QUAL_MIN 10 +FHLD_XY_FILT_HZ 5.000000 +FHLD_XY_I 0.300000 +FHLD_XY_IMAX 3000.000000 +FHLD_XY_P 0.200000 +FILT1_TYPE 0 +FILT2_TYPE 0 +FILT3_TYPE 0 +FILT4_TYPE 0 +FILT5_TYPE 0 +FILT6_TYPE 0 +FILT7_TYPE 0 +FILT8_TYPE 0 +FLIGHT_OPTIONS 0 +FLOW_TYPE 0 +FLTMODE1 7 +FLTMODE2 9 +FLTMODE3 6 +FLTMODE4 3 +FLTMODE5 5 +FLTMODE6 0 +FLTMODE_CH 5 +FLTMODE_GCSBLOCK 0 +FOLL_ENABLE 0 +FORMAT_VERSION 120 +FRAME_CLASS 6 +FRAME_TYPE 1 +FRSKY_DNLINK1_ID 20 +FRSKY_DNLINK2_ID 7 +FRSKY_DNLINK_ID 27 +FRSKY_OPTIONS 0 +FRSKY_UPLINK_ID 13 +FS_CRASH_CHECK 1 +FS_DR_ENABLE 2 +FS_DR_TIMEOUT 30 +FS_EKF_ACTION 1 +FS_EKF_FILT 5.000000 +FS_EKF_THRESH 0.800000 +FS_GCS_ENABLE 0 +FS_GCS_TIMEOUT 5.000000 +FS_OPTIONS 16 +FS_THR_ENABLE 1 +FS_THR_VALUE 975 +FS_VIBE_ENABLE 1 +GCS_PID_MASK 1 +GEN_TYPE 0 +GND_EFFECT_COMP 1 +GPS1_CAN_NODEID 0 +GPS1_CAN_OVRIDE 0 +GPS1_COM_PORT 1 +GPS1_DELAY_MS 0 +GPS1_GNSS_MODE 0 +GPS1_MB_TYPE 0 +GPS1_POS_X 0.000000 +GPS1_POS_Y 0.000000 +GPS1_POS_Z 0.000000 +GPS1_RATE_MS 200 +GPS1_TYPE 1 +GPS2_TYPE 0 +GPS_AUTO_CONFIG 1 +GPS_AUTO_SWITCH 1 +GPS_BLEND_MASK 5 +GPS_DRV_OPTIONS 0 +GPS_HDOP_GOOD 140 +GPS_INJECT_TO 127 +GPS_MIN_ELEV -100 +GPS_NAVFILTER 8 +GPS_PRIMARY 0 +GPS_RAW_DATA 0 +GPS_SAVE_CFG 2 +GPS_SBAS_MODE 2 +GPS_SBP_LOGMASK -256 +GRIP_ENABLE 0 +GUID_OPTIONS 0 +GUID_TIMEOUT 3.000000 +H_COL2YAW 0.000000 +H_COL_ANG_MAX 12.200000 +H_COL_ANG_MIN -2.000000 +H_COL_HOVER 0.300000 +H_COL_LAND_MIN -2.000000 +H_COL_MAX 1680 +H_COL_MIN 1470 +H_COL_ZERO_THRST 0.000000 +H_CYC_MAX 2500 +H_DDFP_BAT_IDX 0 +H_DDFP_BAT_V_MAX 0.000000 +H_DDFP_BAT_V_MIN 0.000000 +H_DDFP_SPIN_MAX 1.000000 +H_DDFP_SPIN_MIN 0.000000 +H_DDFP_THST_EXPO 0.000000 +H_FLYBAR_MODE 0 +H_GYR_GAIN 350 +H_GYR_GAIN_ACRO 0 +H_HOVER_LEARN 2 +H_OPTIONS 1 +H_RSC_AROT_ENBL 0 +H_RSC_CLDWN_TIME 0 +H_RSC_CRITICAL 50 +H_RSC_GOV_COMP 25.000000 +H_RSC_GOV_DROOP 25.000000 +H_RSC_GOV_FF 50.000000 +H_RSC_GOV_RANGE 100.000000 +H_RSC_GOV_RPM 1500 +H_RSC_GOV_TORQUE 30.000000 +H_RSC_IDLE 0 +H_RSC_MODE 2 +H_RSC_RAMP_TIME 1 +H_RSC_RUNUP_TIME 10 +H_RSC_SETPOINT 48 +H_RSC_SLEWRATE 0 +H_RSC_THRCRV_0 25 +H_RSC_THRCRV_100 100 +H_RSC_THRCRV_25 32 +H_RSC_THRCRV_50 38 +H_RSC_THRCRV_75 50 +H_SV_MAN 0.000000 +H_SV_TEST 0 +H_SW_COL_DIR 0 +H_SW_H3_ENABLE 0 +H_SW_LIN_SVO 0 +H_SW_TYPE 3 +H_TAIL_SPEED 50 +H_TAIL_TYPE 3 +H_YAW_TRIM 0.000000 +IM_ACRO_COL_EXP 0.200000 +IM_STB_COL_1 0 +IM_STB_COL_2 40 +IM_STB_COL_3 60 +IM_STB_COL_4 100 +INITIAL_MODE 0 +INS_ACC1_CALTEMP -300.000000 +INS_ACC2OFFS_X 0.001000 +INS_ACC2OFFS_Y 0.001000 +INS_ACC2OFFS_Z 0.001000 +INS_ACC2SCAL_X 1.001000 +INS_ACC2SCAL_Y 1.001000 +INS_ACC2SCAL_Z 1.001000 +INS_ACC2_CALTEMP -300.000000 +INS_ACC2_ID 2753036.000000 +INS_ACC3OFFS_X 0.000000 +INS_ACC3OFFS_Y 0.000000 +INS_ACC3OFFS_Z 0.000000 +INS_ACC3SCAL_X 1.000000 +INS_ACC3SCAL_Y 1.000000 +INS_ACC3SCAL_Z 1.000000 +INS_ACC3_CALTEMP -300.000000 +INS_ACC3_ID 0 +INS_ACCEL_FILTER 20 +INS_ACCOFFS_X 0.001000 +INS_ACCOFFS_Y 0.001000 +INS_ACCOFFS_Z 0.001000 +INS_ACCSCAL_X 1.001000 +INS_ACCSCAL_Y 1.001000 +INS_ACCSCAL_Z 1.001000 +INS_ACC_BODYFIX 2 +INS_ACC_ID 2753028.000000 +INS_ENABLE_MASK 127 +INS_FAST_SAMPLE 1 +INS_GYR1_CALTEMP -300.000000 +INS_GYR2OFFS_X 0.000000 +INS_GYR2OFFS_Y 0.000000 +INS_GYR2OFFS_Z 0.000000 +INS_GYR2_CALTEMP -300.000000 +INS_GYR2_ID 2752780 +INS_GYR3OFFS_X 0.000000 +INS_GYR3OFFS_Y 0.000000 +INS_GYR3OFFS_Z 0.000000 +INS_GYR3_CALTEMP -300.000000 +INS_GYR3_ID 0 +INS_GYROFFS_X 0.000000 +INS_GYROFFS_Y 0.000000 +INS_GYROFFS_Z 0.000000 +INS_GYRO_FILTER 20 +INS_GYRO_RATE 0 +INS_GYR_CAL 0 +INS_GYR_ID 2752772 +INS_HNTC2_ENABLE 0 +INS_HNTC3_ENABLE 0 +INS_HNTCH_ENABLE 0 +INS_LOG_BAT_CNT 1024 +INS_LOG_BAT_LGCT 32 +INS_LOG_BAT_LGIN 20 +INS_LOG_BAT_MASK 0 +INS_LOG_BAT_OPT 0 +INS_POS1_X 0.000000 +INS_POS1_Y 0.000000 +INS_POS1_Z 0.000000 +INS_POS2_X 0.000000 +INS_POS2_Y 0.000000 +INS_POS2_Z 0.000000 +INS_POS3_X 0.000000 +INS_POS3_Y 0.000000 +INS_POS3_Z 0.000000 +INS_RAW_LOG_OPT 0 +INS_STILL_THRESH 2.500000 +INS_TCAL1_ENABLE 0 +INS_TCAL2_ENABLE 0 +INS_TCAL3_ENABLE 0 +INS_TCAL_OPTIONS 0 +INS_TRIM_OPTION 1 +INS_USE 1 +INS_USE2 1 +INS_USE3 1 +KDE_NPOLE 14 +LAND_ALT_LOW 1000 +LAND_REPOSITION 1 +LAND_SPEED 50 +LAND_SPEED_HIGH 0 +LGR_ENABLE 0 +LOG_BACKEND_TYPE 1 +LOG_BITMASK 2504703 +LOG_BLK_RATEMAX 0.000000 +LOG_DARM_RATEMAX 0.000000 +LOG_DISARMED 0 +LOG_FILE_BUFSIZE 200 +LOG_FILE_DSRMROT 0 +LOG_FILE_MB_FREE 500 +LOG_FILE_RATEMAX 0.000000 +LOG_FILE_TIMEOUT 5 +LOG_MAV_BUFSIZE 8 +LOG_MAV_RATEMAX 0.000000 +LOG_MAX_FILES 500 +LOG_REPLAY 1 +LOIT_ACC_MAX 500.000000 +LOIT_ANG_MAX 0.000000 +LOIT_BRK_ACCEL 125.000000 +LOIT_BRK_DELAY 1.000000 +LOIT_BRK_JERK 250.000000 +LOIT_SPEED 3000.000000 +MAV1_ADSB 4 +MAV1_EXTRA1 4 +MAV1_EXTRA2 4 +MAV1_EXTRA3 4 +MAV1_EXT_STAT 4 +MAV1_OPTIONS 0 +MAV1_PARAMS 0 +MAV1_POSITION 4 +MAV1_RAW_CTRL 4 +MAV1_RAW_SENS 4 +MAV1_RC_CHAN 4 +MAV2_ADSB 0 +MAV2_EXTRA1 0 +MAV2_EXTRA2 0 +MAV2_EXTRA3 0 +MAV2_EXT_STAT 0 +MAV2_OPTIONS 0 +MAV2_PARAMS 0 +MAV2_POSITION 0 +MAV2_RAW_CTRL 0 +MAV2_RAW_SENS 0 +MAV2_RC_CHAN 0 +MAV3_ADSB 0 +MAV3_EXTRA1 0 +MAV3_EXTRA2 0 +MAV3_EXTRA3 0 +MAV3_EXT_STAT 0 +MAV3_OPTIONS 0 +MAV3_PARAMS 0 +MAV3_POSITION 0 +MAV3_RAW_CTRL 0 +MAV3_RAW_SENS 0 +MAV3_RC_CHAN 0 +MAV_GCS_SYSID 255 +MAV_OPTIONS 0 +MAV_SYSID 1 +MAV_TELEM_DELAY 0 +MIS_OPTIONS 0 +MIS_RESTART 0 +MIS_TOTAL 12 +MNT1_TYPE 0 +MNT2_TYPE 0 +MSP_OPTIONS 0 +MSP_OSD_NCELLS 0 +NET_ENABLE 0 +NET_P1_TYPE 0 +NET_P2_TYPE 0 +NET_P3_TYPE 0 +NET_P4_TYPE 0 +NMEA_MSG_EN 3 +NMEA_RATE_MS 100 +NTF_BUZZ_ON_LVL 1 +NTF_BUZZ_PIN -1 +NTF_BUZZ_TYPES 5 +NTF_BUZZ_VOLUME 100 +NTF_DISPLAY_TYPE 0 +NTF_LED_BRIGHT 3 +NTF_LED_LEN 1 +NTF_LED_OVERRIDE 0 +NTF_LED_TYPES 123079 +OA_TYPE 0 +OSD_TYPE 0 +PHLD_BRAKE_ANGLE 800 +PHLD_BRAKE_RATE 4 +PILOT_ACCEL_Z 250 +PILOT_SPEED_DN 0 +PILOT_SPEED_UP 250 +PILOT_THR_BHV 0 +PILOT_THR_FILT 0.000000 +PILOT_TKOFF_ALT 0.000000 +PILOT_Y_EXPO 0.000000 +PILOT_Y_RATE 202.500000 +PILOT_Y_RATE_TC 0.000000 +PLDP_DELAY 0.000000 +PLDP_RNG_MAX 0.000000 +PLDP_SPEED_DN 0.000000 +PLDP_THRESH 0.900000 +PLND_ENABLED 0 +PRX1_TYPE 0 +PRX2_TYPE 0 +PRX3_TYPE 0 +PRX4_TYPE 0 +PRX5_TYPE 0 +PRX_ALT_MIN 1.000000 +PRX_FILT 0.250000 +PRX_IGN_GND 0 +PRX_LOG_RAW 0 +PSC_ACCZ_D 0.000000 +PSC_ACCZ_D_FF 0.000000 +PSC_ACCZ_FF 0.000000 +PSC_ACCZ_FLTD 0.000000 +PSC_ACCZ_FLTE 20.000000 +PSC_ACCZ_FLTT 0.000000 +PSC_ACCZ_I 1.000000 +PSC_ACCZ_IMAX 800.000000 +PSC_ACCZ_NEF 0 +PSC_ACCZ_NTF 0 +PSC_ACCZ_P 0.280000 +PSC_ACCZ_PDMX 0.000000 +PSC_ACCZ_SMAX 0.000000 +PSC_ANGLE_MAX 0.000000 +PSC_JERK_XY 5.000000 +PSC_JERK_Z 5.000000 +PSC_POSXY_P 1.000000 +PSC_POSZ_P 1.000000 +PSC_VELXY_D 0.500000 +PSC_VELXY_FF 0.000000 +PSC_VELXY_FLTD 5.000000 +PSC_VELXY_FLTE 5.000000 +PSC_VELXY_I 0.500000 +PSC_VELXY_IMAX 1000.000000 +PSC_VELXY_P 1.000000 +PSC_VELZ_D 0.000000 +PSC_VELZ_FF 0.000000 +PSC_VELZ_FLTD 5.000000 +PSC_VELZ_FLTE 5.000000 +PSC_VELZ_I 0.000000 +PSC_VELZ_IMAX 1000.000000 +PSC_VELZ_P 5.000000 +RALLY_INCL_HOME 1 +RALLY_LIMIT_KM 0.300000 +RALLY_TOTAL 0 +RC10_DZ 0 +RC10_MAX 1900 +RC10_MIN 1100 +RC10_OPTION 0 +RC10_REVERSED 0 +RC10_TRIM 1500 +RC11_DZ 0 +RC11_MAX 1900 +RC11_MIN 1100 +RC11_OPTION 0 +RC11_REVERSED 0 +RC11_TRIM 1500 +RC12_DZ 0 +RC12_MAX 1900 +RC12_MIN 1100 +RC12_OPTION 0 +RC12_REVERSED 0 +RC12_TRIM 1500 +RC13_DZ 0 +RC13_MAX 1900 +RC13_MIN 1100 +RC13_OPTION 0 +RC13_REVERSED 0 +RC13_TRIM 1500 +RC14_DZ 0 +RC14_MAX 1900 +RC14_MIN 1100 +RC14_OPTION 0 +RC14_REVERSED 0 +RC14_TRIM 1500 +RC15_DZ 0 +RC15_MAX 1900 +RC15_MIN 1100 +RC15_OPTION 0 +RC15_REVERSED 0 +RC15_TRIM 1500 +RC16_DZ 0 +RC16_MAX 1900 +RC16_MIN 1100 +RC16_OPTION 0 +RC16_REVERSED 0 +RC16_TRIM 1500 +RC1_DZ 20 +RC1_MAX 2000 +RC1_MIN 1000 +RC1_OPTION 0 +RC1_REVERSED 0 +RC1_TRIM 1500 +RC2_DZ 20 +RC2_MAX 2000 +RC2_MIN 1000 +RC2_OPTION 0 +RC2_REVERSED 0 +RC2_TRIM 1500 +RC3_DZ 10 +RC3_MAX 2000 +RC3_MIN 1000 +RC3_OPTION 0 +RC3_REVERSED 0 +RC3_TRIM 1500 +RC4_DZ 15 +RC4_MAX 2000 +RC4_MIN 1000 +RC4_OPTION 0 +RC4_REVERSED 0 +RC4_TRIM 1500 +RC5_DZ 0 +RC5_MAX 2000 +RC5_MIN 1000 +RC5_OPTION 0 +RC5_REVERSED 0 +RC5_TRIM 1500 +RC6_DZ 0 +RC6_MAX 2000 +RC6_MIN 1000 +RC6_OPTION 0 +RC6_REVERSED 0 +RC6_TRIM 1500 +RC7_DZ 0 +RC7_MAX 2000 +RC7_MIN 1000 +RC7_OPTION 0 +RC7_REVERSED 0 +RC7_TRIM 1500 +RC8_DZ 0 +RC8_MAX 2000 +RC8_MIN 1000 +RC8_OPTION 32 +RC8_REVERSED 0 +RC8_TRIM 1500 +RC9_DZ 0 +RC9_MAX 1900 +RC9_MIN 1100 +RC9_OPTION 0 +RC9_REVERSED 0 +RC9_TRIM 1500 +RCMAP_PITCH 2 +RCMAP_ROLL 1 +RCMAP_THROTTLE 3 +RCMAP_YAW 4 +RC_FS_TIMEOUT 1.000000 +RC_OPTIONS 0 +RC_OVERRIDE_TIME 3.000000 +RC_PROTOCOLS 1 +RC_SPEED 125 +RELAY1_DEFAULT 0 +RELAY1_FUNCTION 1 +RELAY1_INVERTED 0 +RELAY1_PIN 13 +RELAY2_FUNCTION 0 +RELAY3_FUNCTION 0 +RELAY4_FUNCTION 0 +RELAY5_FUNCTION 0 +RELAY6_FUNCTION 0 +RNGFND1_TYPE 0 +RNGFND2_TYPE 0 +RNGFND3_TYPE 0 +RNGFND4_TYPE 0 +RNGFND5_TYPE 0 +RNGFND6_TYPE 0 +RNGFND7_TYPE 0 +RNGFND8_TYPE 0 +RNGFND9_TYPE 0 +RNGFNDA_TYPE 0 +RNGFND_FILT 0.500000 +RPM1_DC_ID -1 +RPM1_ESC_INDEX 0 +RPM1_ESC_MASK 0 +RPM1_MAX 100000.000000 +RPM1_MIN 10.000000 +RPM1_MIN_QUAL 0.500000 +RPM1_PIN -1 +RPM1_SCALING 1.000000 +RPM1_TYPE 10 +RPM2_TYPE 0 +RSSI_TYPE 0 +RTL_ALT 500 +RTL_ALT_FINAL 0 +RTL_ALT_TYPE 0 +RTL_CLIMB_MIN 0 +RTL_CONE_SLOPE 3.000000 +RTL_LOIT_TIME 5000 +RTL_OPTIONS 0 +RTL_SPEED 0 +SCHED_DEBUG 0 +SCHED_LOOP_RATE 400 +SCHED_OPTIONS 0 +SCR_ENABLE 0 +SERIAL0_BAUD 115 +SERIAL0_PROTOCOL 2 +SERIAL1_BAUD 57 +SERIAL1_OPTIONS 0 +SERIAL1_PROTOCOL 2 +SERIAL2_BAUD 57 +SERIAL2_OPTIONS 0 +SERIAL2_PROTOCOL 2 +SERIAL3_BAUD 230 +SERIAL3_OPTIONS 0 +SERIAL3_PROTOCOL 5 +SERIAL4_BAUD 230 +SERIAL4_OPTIONS 0 +SERIAL4_PROTOCOL 5 +SERIAL5_BAUD 57 +SERIAL5_OPTIONS 0 +SERIAL5_PROTOCOL -1 +SERIAL6_BAUD 57 +SERIAL6_OPTIONS 0 +SERIAL6_PROTOCOL -1 +SERIAL7_BAUD 57 +SERIAL7_OPTIONS 0 +SERIAL7_PROTOCOL -1 +SERIAL_PASS1 0 +SERIAL_PASS2 -1 +SERIAL_PASSTIMO 15 +SERVO10_FUNCTION 0 +SERVO10_MAX 1900 +SERVO10_MIN 1100 +SERVO10_REVERSED 0 +SERVO10_TRIM 1500 +SERVO11_FUNCTION 0 +SERVO11_MAX 1900 +SERVO11_MIN 1100 +SERVO11_REVERSED 0 +SERVO11_TRIM 1500 +SERVO12_FUNCTION 0 +SERVO12_MAX 1900 +SERVO12_MIN 1100 +SERVO12_REVERSED 0 +SERVO12_TRIM 1500 +SERVO13_FUNCTION 0 +SERVO13_MAX 1900 +SERVO13_MIN 1100 +SERVO13_REVERSED 0 +SERVO13_TRIM 1500 +SERVO14_FUNCTION 0 +SERVO14_MAX 1900 +SERVO14_MIN 1100 +SERVO14_REVERSED 0 +SERVO14_TRIM 1500 +SERVO15_FUNCTION 0 +SERVO15_MAX 1900 +SERVO15_MIN 1100 +SERVO15_REVERSED 0 +SERVO15_TRIM 1500 +SERVO16_FUNCTION 0 +SERVO16_MAX 1900 +SERVO16_MIN 1100 +SERVO16_REVERSED 0 +SERVO16_TRIM 1500 +SERVO1_FUNCTION 33 +SERVO1_MAX 2000 +SERVO1_MIN 1000 +SERVO1_REVERSED 0 +SERVO1_TRIM 1500 +SERVO2_FUNCTION 34 +SERVO2_MAX 2000 +SERVO2_MIN 1000 +SERVO2_REVERSED 0 +SERVO2_TRIM 1500 +SERVO3_FUNCTION 35 +SERVO3_MAX 2000 +SERVO3_MIN 1000 +SERVO3_REVERSED 0 +SERVO3_TRIM 1500 +SERVO4_FUNCTION 36 +SERVO4_MAX 2000 +SERVO4_MIN 1000 +SERVO4_REVERSED 0 +SERVO4_TRIM 1500 +SERVO5_FUNCTION 0 +SERVO5_MAX 2000 +SERVO5_MIN 1000 +SERVO5_REVERSED 0 +SERVO5_TRIM 1500 +SERVO6_FUNCTION 0 +SERVO6_MAX 2000 +SERVO6_MIN 1000 +SERVO6_REVERSED 0 +SERVO6_TRIM 1500 +SERVO7_FUNCTION 0 +SERVO7_MAX 2000 +SERVO7_MIN 1000 +SERVO7_REVERSED 0 +SERVO7_TRIM 1500 +SERVO8_FUNCTION 31 +SERVO8_MAX 2000 +SERVO8_MIN 1000 +SERVO8_REVERSED 0 +SERVO8_TRIM 1500 +SERVO9_FUNCTION 0 +SERVO9_MAX 1900 +SERVO9_MIN 1100 +SERVO9_REVERSED 0 +SERVO9_TRIM 1500 +SERVO_32_ENABLE 0 +SERVO_DSHOT_ESC 0 +SERVO_DSHOT_RATE 0 +SERVO_FTW_MASK 0 +SERVO_FTW_POLES 14 +SERVO_FTW_RVMASK 0 +SERVO_GPIO_MASK 0 +SERVO_RATE 50 +SERVO_RC_FS_MSK 0 +SERVO_ROB_POSMAX 4095 +SERVO_ROB_POSMIN 0 +SERVO_SBUS_RATE 50 +SERVO_VOLZ_MASK 0 +SERVO_VOLZ_RANGE 200 +SID_AXIS 0 +SIMPLE 0 +SIM_ACC1_BIAS_X 0.000000 +SIM_ACC1_BIAS_Y 0.000000 +SIM_ACC1_BIAS_Z 0.000000 +SIM_ACC1_RND 0.000000 +SIM_ACC1_SCAL_X 0.000000 +SIM_ACC1_SCAL_Y 0.000000 +SIM_ACC1_SCAL_Z 0.000000 +SIM_ACC2_BIAS_X 0.000000 +SIM_ACC2_BIAS_Y 0.000000 +SIM_ACC2_BIAS_Z 0.000000 +SIM_ACC2_RND 0.000000 +SIM_ACC2_SCAL_X 0.000000 +SIM_ACC2_SCAL_Y 0.000000 +SIM_ACC2_SCAL_Z 0.000000 +SIM_ACC3_BIAS_X 0.000000 +SIM_ACC3_BIAS_Y 0.000000 +SIM_ACC3_BIAS_Z 0.000000 +SIM_ACC3_RND 0.000000 +SIM_ACC3_SCAL_X 0.000000 +SIM_ACC3_SCAL_Y 0.000000 +SIM_ACC3_SCAL_Z 0.000000 +SIM_ACCEL1_FAIL 0.000000 +SIM_ACCEL2_FAIL 0.000000 +SIM_ACCEL3_FAIL 0.000000 +SIM_ACC_FAIL_MSK 0 +SIM_ACC_FILE_RW 0 +SIM_ACC_TRIM_X 0.000000 +SIM_ACC_TRIM_Y 0.000000 +SIM_ACC_TRIM_Z 0.000000 +SIM_ADSB_ALT 1000.000000 +SIM_ADSB_COUNT -1 +SIM_ADSB_RADIUS 10000.000000 +SIM_ADSB_TX 0 +SIM_ADSB_TYPES 1 +SIM_ARSPD2_FAIL 0.000000 +SIM_ARSPD2_FAILP 0.000000 +SIM_ARSPD2_OFS 2013.000000 +SIM_ARSPD2_PITOT 0.000000 +SIM_ARSPD2_RATIO 1.990000 +SIM_ARSPD2_RND 2.000000 +SIM_ARSPD2_SIGN 0 +SIM_ARSPD_FAIL 0.000000 +SIM_ARSPD_FAILP 0.000000 +SIM_ARSPD_OFS 2013.000000 +SIM_ARSPD_PITOT 0.000000 +SIM_ARSPD_RATIO 1.990000 +SIM_ARSPD_RND 2.000000 +SIM_ARSPD_SIGN 0 +SIM_BAR2_DELAY 0 +SIM_BAR2_DISABLE 0 +SIM_BAR2_DRIFT 0.000000 +SIM_BAR2_FREEZE 0 +SIM_BAR2_GLITCH 0.000000 +SIM_BAR2_RND 0.200000 +SIM_BAR2_WCF_BAK 0.000000 +SIM_BAR2_WCF_DN 0.000000 +SIM_BAR2_WCF_FWD 0.000000 +SIM_BAR2_WCF_LFT 0.000000 +SIM_BAR2_WCF_RGT 0.000000 +SIM_BAR2_WCF_UP 0.000000 +SIM_BAR3_DELAY 0 +SIM_BAR3_DISABLE 0 +SIM_BAR3_DRIFT 0.000000 +SIM_BAR3_FREEZE 0 +SIM_BAR3_GLITCH 0.000000 +SIM_BAR3_RND 0.200000 +SIM_BAR3_WCF_BAK 0.000000 +SIM_BAR3_WCF_DN 0.000000 +SIM_BAR3_WCF_FWD 0.000000 +SIM_BAR3_WCF_LFT 0.000000 +SIM_BAR3_WCF_RGT 0.000000 +SIM_BAR3_WCF_UP 0.000000 +SIM_BARO_COUNT 2 +SIM_BARO_DELAY 0 +SIM_BARO_DISABLE 0 +SIM_BARO_DRIFT 0.000000 +SIM_BARO_FREEZE 0 +SIM_BARO_GLITCH 0.000000 +SIM_BARO_RND 0.200000 +SIM_BARO_WCF_BAK 0.000000 +SIM_BARO_WCF_DN 0.000000 +SIM_BARO_WCF_FWD 0.000000 +SIM_BARO_WCF_LFT 0.000000 +SIM_BARO_WCF_RGT 0.000000 +SIM_BARO_WCF_UP 0.000000 +SIM_BATT_CAP_AH 0.000000 +SIM_BATT_VOLTAGE 12.600000 +SIM_BAUDLIMIT_EN 0 +SIM_CAN_SRV_MSK 0 +SIM_CAN_TYPE1 1 +SIM_CAN_TYPE2 1 +SIM_CLAMP_CH 0 +SIM_DRIFT_SPEED 0.050000 +SIM_DRIFT_TIME 5.000000 +SIM_EFI_TYPE 0 +SIM_ENGINE_FAIL 0 +SIM_ENGINE_MUL 0.000000 +SIM_ESC_ARM_RPM 0.000000 +SIM_ESC_TELEM 1 +SIM_FLOAT_EXCEPT 1 +SIM_FLOW_DELAY 0 +SIM_FLOW_ENABLE 0 +SIM_FLOW_POS_X 0.000000 +SIM_FLOW_POS_Y 0.000000 +SIM_FLOW_POS_Z 0.000000 +SIM_FLOW_RATE 10 +SIM_FLOW_RND 0.050000 +SIM_FTOWESC_ENA 0 +SIM_FTOWESC_POW 4095 +SIM_GND_BEHAV -1 +SIM_GPS1_ACC 0.300000 +SIM_GPS1_ALT_OFS 0 +SIM_GPS1_BYTELOS 0.000000 +SIM_GPS1_DRFTALT 0.000000 +SIM_GPS1_ENABLE 1 +SIM_GPS1_GLTCH_X 0.000000 +SIM_GPS1_GLTCH_Y 0.000000 +SIM_GPS1_GLTCH_Z 0.000000 +SIM_GPS1_HDG 0 +SIM_GPS1_HDG_OFS 0.000000 +SIM_GPS1_HZ 5 +SIM_GPS1_JAM 0 +SIM_GPS1_LAG_MS 100 +SIM_GPS1_LCKTIME 0 +SIM_GPS1_NOISE 0.000000 +SIM_GPS1_NUMSATS 10 +SIM_GPS1_POS_X 0.000000 +SIM_GPS1_POS_Y 0.000000 +SIM_GPS1_POS_Z 0.000000 +SIM_GPS1_TYPE 1 +SIM_GPS1_VERR_X 0.000000 +SIM_GPS1_VERR_Y 0.000000 +SIM_GPS1_VERR_Z 0.000000 +SIM_GPS2_ENABLE 0 +SIM_GPS3_ENABLE 0 +SIM_GPS4_ENABLE 0 +SIM_GPS_LOG_NUM 0 +SIM_GRPE_ENABLE 0 +SIM_GRPE_PIN -1 +SIM_GRPS_ENABLE 0 +SIM_GRPS_GRAB 2000 +SIM_GRPS_PIN -1 +SIM_GRPS_RELEASE 1000 +SIM_GRPS_REVERSE 0 +SIM_GYR1_BIAS_X 0.000000 +SIM_GYR1_BIAS_Y 0.000000 +SIM_GYR1_BIAS_Z 0.000000 +SIM_GYR1_RND 0.000000 +SIM_GYR1_SCALE_X 0.000000 +SIM_GYR1_SCALE_Y 0.000000 +SIM_GYR1_SCALE_Z 0.000000 +SIM_GYR2_BIAS_X 0.000000 +SIM_GYR2_BIAS_Y 0.000000 +SIM_GYR2_BIAS_Z 0.000000 +SIM_GYR2_RND 0.000000 +SIM_GYR2_SCALE_X 0.000000 +SIM_GYR2_SCALE_Y 0.000000 +SIM_GYR2_SCALE_Z 0.000000 +SIM_GYR3_BIAS_X 0.000000 +SIM_GYR3_BIAS_Y 0.000000 +SIM_GYR3_BIAS_Z 0.000000 +SIM_GYR3_RND 0.000000 +SIM_GYR3_SCALE_X 0.000000 +SIM_GYR3_SCALE_Y 0.000000 +SIM_GYR3_SCALE_Z 0.000000 +SIM_GYR_FAIL_MSK 0 +SIM_GYR_FILE_RW 0 +SIM_IE24_ENABLE 0 +SIM_IE24_ERROR 0 +SIM_IE24_STATE -1 +SIM_IMUT1_ENABLE 0 +SIM_IMUT2_ENABLE 0 +SIM_IMUT3_ENABLE 0 +SIM_IMUT_END 45.000000 +SIM_IMUT_FIXED 0.000000 +SIM_IMUT_START 25.000000 +SIM_IMUT_TCONST 300.000000 +SIM_IMU_COUNT 2 +SIM_IMU_ORIENT 0 +SIM_IMU_POS_X 0.000000 +SIM_IMU_POS_Y 0.000000 +SIM_IMU_POS_Z 0.000000 +SIM_INIT_ALT_OFS 0.000000 +SIM_INIT_LAT_OFS 0.000000 +SIM_INIT_LON_OFS 0.000000 +SIM_INS_THR_MIN 0.100000 +SIM_JSON_MASTER 0 +SIM_LED_LAYOUT 0 +SIM_LOOP_DELAY 0 +SIM_MAG1_DEVID 97539 +SIM_MAG1_DIA_X 0.000000 +SIM_MAG1_DIA_Y 0.000000 +SIM_MAG1_DIA_Z 0.000000 +SIM_MAG1_FAIL 0 +SIM_MAG1_ODI_X 0.000000 +SIM_MAG1_ODI_Y 0.000000 +SIM_MAG1_ODI_Z 0.000000 +SIM_MAG1_OFS_X 5.000000 +SIM_MAG1_OFS_Y 13.000000 +SIM_MAG1_OFS_Z -18.000000 +SIM_MAG1_ORIENT 0 +SIM_MAG1_SCALING 1.000000 +SIM_MAG2_DEVID 131874 +SIM_MAG2_DIA_X 0.000000 +SIM_MAG2_DIA_Y 0.000000 +SIM_MAG2_DIA_Z 0.000000 +SIM_MAG2_FAIL 0 +SIM_MAG2_ODI_X 0.000000 +SIM_MAG2_ODI_Y 0.000000 +SIM_MAG2_ODI_Z 0.000000 +SIM_MAG2_OFS_X 5.000000 +SIM_MAG2_OFS_Y 13.000000 +SIM_MAG2_OFS_Z -18.000000 +SIM_MAG2_ORIENT 0 +SIM_MAG2_SCALING 1.000000 +SIM_MAG3_DEVID 263178 +SIM_MAG3_DIA_X 0.000000 +SIM_MAG3_DIA_Y 0.000000 +SIM_MAG3_DIA_Z 0.000000 +SIM_MAG3_FAIL 0 +SIM_MAG3_ODI_X 0.000000 +SIM_MAG3_ODI_Y 0.000000 +SIM_MAG3_ODI_Z 0.000000 +SIM_MAG3_OFS_X 5.000000 +SIM_MAG3_OFS_Y 13.000000 +SIM_MAG3_OFS_Z -18.000000 +SIM_MAG3_ORIENT 0 +SIM_MAG3_SCALING 1.000000 +SIM_MAG4_DEVID 97283 +SIM_MAG5_DEVID 97795 +SIM_MAG6_DEVID 98051 +SIM_MAG7_DEVID 0 +SIM_MAG8_DEVID 0 +SIM_MAG_ALY_HGT 1.000000 +SIM_MAG_ALY_X 0.000000 +SIM_MAG_ALY_Y 0.000000 +SIM_MAG_ALY_Z 0.000000 +SIM_MAG_DELAY 0 +SIM_MAG_MOT_X 0.000000 +SIM_MAG_MOT_Y 0.000000 +SIM_MAG_MOT_Z 0.000000 +SIM_MAG_RND 0.000000 +SIM_MAG_SAVE_IDS 1 +SIM_ODOM_ENABLE 0 +SIM_OH_MASK 0 +SIM_OH_RELAY_MSK -1 +SIM_OPOS_ALT 584.000000 +SIM_OPOS_HDG 353.000000 +SIM_OPOS_LAT -35.363262 +SIM_OPOS_LNG 149.165237 +SIM_PARA_ENABLE 0 +SIM_PARA_PIN -1 +SIM_PIN_MASK 0 +SIM_PLD_ALT_LMT 15.000000 +SIM_PLD_DIST_LMT 10.000000 +SIM_PLD_ENABLE 0 +SIM_PLD_HEIGHT 0.000000 +SIM_PLD_LAT 0.000000 +SIM_PLD_LON 0.000000 +SIM_PLD_OPTIONS 0 +SIM_PLD_ORIENT 24 +SIM_PLD_RATE 100 +SIM_PLD_SHIP 0 +SIM_PLD_TYPE 0 +SIM_PLD_YAW 0 +SIM_RATE_HZ 1200 +SIM_RC_CHANCOUNT 16 +SIM_RC_FAIL 0 +SIM_RICH_CTRL -1 +SIM_RICH_ENABLE 0 +SIM_SERVO_DELAY 0.000000 +SIM_SERVO_FILTER 0.000000 +SIM_SERVO_SPEED 0.140000 +SIM_SHIP_DSIZE 10.000000 +SIM_SHIP_ENABLE 0 +SIM_SHIP_OFS_X 0.000000 +SIM_SHIP_OFS_Y 0.000000 +SIM_SHIP_OFS_Z 0.000000 +SIM_SHIP_PSIZE 1000.000000 +SIM_SHIP_SPEED 3.000000 +SIM_SHIP_SYSID 17 +SIM_SHOVE_TIME 0 +SIM_SHOVE_X 0.000000 +SIM_SHOVE_Y 0.000000 +SIM_SHOVE_Z 0.000000 +SIM_SLUP_ENABLE 0 +SIM_SONAR_GLITCH 0.000000 +SIM_SONAR_POS_X 0.000000 +SIM_SONAR_POS_Y 0.000000 +SIM_SONAR_POS_Z 0.000000 +SIM_SONAR_RND 0.000000 +SIM_SONAR_ROT 25 +SIM_SONAR_SCALE 12.121200 +SIM_SPEEDUP 1.000000 +SIM_SPR_ENABLE 0 +SIM_SPR_PUMP -1 +SIM_SPR_SPIN -1 +SIM_TA_ENABLE 1 +SIM_TEMP_BFACTOR 0.000000 +SIM_TEMP_BRD_OFF 20.000000 +SIM_TEMP_START 25.000000 +SIM_TEMP_TCONST 30.000000 +SIM_TERRAIN 1 +SIM_TETH_ENABLE 0 +SIM_THML_SCENARI 0 +SIM_TIDE_DIR 0.000000 +SIM_TIDE_SPEED 0.000000 +SIM_TIME_JITTER 0 +SIM_TWIST_TIME 0 +SIM_TWIST_X 0.000000 +SIM_TWIST_Y 0.000000 +SIM_TWIST_Z 0.000000 +SIM_UART_LOSS 0.000000 +SIM_VIB_FREQ_X 0.000000 +SIM_VIB_FREQ_Y 0.000000 +SIM_VIB_FREQ_Z 0.000000 +SIM_VIB_MOT_HMNC 1 +SIM_VIB_MOT_MASK 0 +SIM_VIB_MOT_MAX 0.000000 +SIM_VIB_MOT_MULT 1.000000 +SIM_VICON_FAIL 0 +SIM_VICON_GLIT_X 0.000000 +SIM_VICON_GLIT_Y 0.000000 +SIM_VICON_GLIT_Z 0.000000 +SIM_VICON_POS_X 0.000000 +SIM_VICON_POS_Y 0.000000 +SIM_VICON_POS_Z 0.000000 +SIM_VICON_P_SD 0.000000 +SIM_VICON_RATE 50 +SIM_VICON_TMASK 3 +SIM_VICON_VGLI_X 0.000000 +SIM_VICON_VGLI_Y 0.000000 +SIM_VICON_VGLI_Z 0.000000 +SIM_VICON_V_SD 0.000000 +SIM_VICON_YAW 0 +SIM_VICON_YAWERR 0 +SIM_VOLZ_ENA 0 +SIM_VOLZ_FMASK 0 +SIM_VOLZ_MASK 11 +SIM_WAVE_AMP 0.500000 +SIM_WAVE_DIR 0.000000 +SIM_WAVE_ENABLE 0 +SIM_WAVE_LENGTH 10.000000 +SIM_WAVE_SPEED 0.500000 +SIM_WIND_DIR 180.000000 +SIM_WIND_DIR_Z 0.000000 +SIM_WIND_SPD 0.000000 +SIM_WIND_T 0 +SIM_WIND_TC 5.000000 +SIM_WIND_TURB 0.000000 +SIM_WIND_T_ALT 60.000000 +SIM_WIND_T_COEF 0.010000 +SIM_WOW_PIN -1 +SPRAY_ENABLE 0 +SRTL_ACCURACY 2.000000 +SRTL_OPTIONS 0 +SRTL_POINTS 300 +STAT_BOOTCNT 31 +STAT_FLTTIME 16471.000000 +STAT_RESET 1 +STAT_RUNTIME 49920.000000 +SUPER_SIMPLE 0 +SURFTRAK_MODE 1 +SURFTRAK_TC 1.000000 +TCAL_ENABLED 0 +TEMP1_TYPE 0 +TEMP2_TYPE 0 +TEMP3_TYPE 0 +TEMP_LOG 0 +TERRAIN_CACHE_SZ 12 +TERRAIN_ENABLE 1 +TERRAIN_MARGIN 0.050000 +TERRAIN_OFS_MAX 30.000000 +TERRAIN_OPTIONS 0 +TERRAIN_SPACING 100 +THROW_ALT_ACSND 3.000000 +THROW_ALT_DCSND 1.000000 +THROW_ALT_MAX 0 +THROW_ALT_MIN 0 +THROW_MOT_START 0 +THROW_NEXTMODE 18 +THROW_TYPE 0 +THR_DZ 100 +TKOFF_SLEW_TIME 2.000000 +TKOFF_THR_MAX 0.900000 +TUNE 0 +TUNE_MAX 0.000000 +TUNE_MIN 0.000000 +VISO_TYPE 0 +VTX_ENABLE 0 +WINCH_TYPE 0 +WPNAV_ACCEL 250.000000 +WPNAV_ACCEL_C 0.000000 +WPNAV_ACCEL_Z 100.000000 +WPNAV_JERK 1.000000 +WPNAV_RADIUS 200.000000 +WPNAV_RFND_USE 1 +WPNAV_SPEED 1000.000000 +WPNAV_SPEED_DN 150.000000 +WPNAV_SPEED_UP 250.000000 +WPNAV_TER_MARGIN 10.000000 +WP_NAVALT_MIN 0.000000 +WP_YAW_BEHAVIOR 3 +WVANE_ENABLE 0 +ZIGZ_AUTO_ENABLE 0 diff --git a/Gazebo/config/helicopter.yaml b/Gazebo/config/helicopter.yaml new file mode 100644 index 00000000..134627d8 --- /dev/null +++ b/Gazebo/config/helicopter.yaml @@ -0,0 +1,36 @@ +--- +- ros_topic_name: "clock" + gz_topic_name: "/clock" + ros_type_name: "rosgraph_msgs/msg/Clock" + gz_type_name: "gz.msgs.Clock" + direction: GZ_TO_ROS + +- ros_topic_name: "/rotor_cw/joint_state" + gz_topic_name: "/world/empty/model/helicopter/model/rotor_head_cw/joint_state" + ros_type_name: "sensor_msgs/msg/JointState" + gz_type_name: "gz.msgs.Model" + direction: GZ_TO_ROS + +- ros_topic_name: "/rotor_cw/servo_arm_1/cmd_pos" + gz_topic_name: "/model/rotor_head_cw/joint/servo_arm_1_joint/0/cmd_pos" + ros_type_name: "std_msgs/msg/Float64" + gz_type_name: "gz.msgs.Double" + direction: GZ_TO_ROS + +- ros_topic_name: "/rotor_cw/servo_arm_2/cmd_pos" + gz_topic_name: "/model/rotor_head_cw/joint/servo_arm_2_joint/0/cmd_pos" + ros_type_name: "std_msgs/msg/Float64" + gz_type_name: "gz.msgs.Double" + direction: GZ_TO_ROS + +- ros_topic_name: "/rotor_cw/servo_arm_3/cmd_pos" + gz_topic_name: "/model/rotor_head_cw/joint/servo_arm_3_joint/0/cmd_pos" + ros_type_name: "std_msgs/msg/Float64" + gz_type_name: "gz.msgs.Double" + direction: GZ_TO_ROS + +- ros_topic_name: "/rotor_cw/cmd_vel" + gz_topic_name: "/model/rotor_head_cw/joint/main_joint/cmd_vel" + ros_type_name: "std_msgs/msg/Float64" + gz_type_name: "gz.msgs.Double" + direction: GZ_TO_ROS diff --git a/Gazebo/docs/Helicopter.md b/Gazebo/docs/Helicopter.md new file mode 100644 index 00000000..2622bd21 --- /dev/null +++ b/Gazebo/docs/Helicopter.md @@ -0,0 +1,34 @@ +# Helicopter + +A model for a traditional Helicopter. + +_TODO: Add image here_ + +- ## Usage + +Gazebo and the plugins should be installed as per the [ArduPilot Gazebo Plugin](https://github.com/ArduPilot/ardupilot_gazebo) instructions. + +Update the `GZ_SIM_RESOURCE_PATH` to include these models: + +```bash +export GZ_SIM_RESOURCE_PATH=$GZ_SIM_RESOURCE_PATH:\ +$HOME/SITL_Models/Gazebo/models:\ +$HOME/SITL_Models/Gazebo/worlds +``` + +### Run Gazebo + +```bash +gz sim -v4 -r helicopter_runway.sdf +``` + +#### Run ArduPilot SITL + +```bash +sim_vehicle.py -v ArduCopter --model JSON --add-param-file=$HOME/SITL_Models/Gazebo/config/heli_ddfp_cw.param --console --map +``` + + +### Credits + +- [PB/Two blade small helicopter rotor head](https://grabcad.com/library/two-blade-small-helicopter-rotor-head-2) diff --git a/Gazebo/models/helicopter/meshes/trex450_frame.dae b/Gazebo/models/helicopter/meshes/trex450_frame.dae new file mode 100644 index 00000000..b48fa478 --- /dev/null +++ b/Gazebo/models/helicopter/meshes/trex450_frame.dae @@ -0,0 +1,6971 @@ + + + + + Blender User + Blender 2.93.6 commit date:2021-11-16, commit time:14:54, hash:c842a90e2fa1 + + 2025-07-02T16:36:46 + 2025-07-02T16:36:46 + + Z_UP + + + + + + + + 0 0 0 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537 220 537 280 538 219 538 238 538 291 539 280 539 238 539 291 540 238 540 239 540 28 541 297 541 29 541 29 542 297 542 293 542 297 543 298 543 293 543 293 544 298 544 294 544 298 545 299 545 294 545 294 546 299 546 295 546 299 547 300 547 295 547 295 548 300 548 19 548 300 549 20 549 19 549 292 550 296 550 139 550 296 551 138 551 139 551 22 552 134 552 136 552 22 553 131 553 134 553 20 554 131 554 22 554 24 555 22 555 136 555 24 556 136 556 138 556 20 557 164 557 131 557 26 558 24 558 138 558 26 559 138 559 296 559 300 560 164 560 20 560 300 561 162 561 164 561 300 562 161 562 162 562 28 563 26 563 296 563 161 564 300 564 299 564 158 565 161 565 299 565 149 566 28 566 296 566 157 567 158 567 299 567 153 568 297 568 28 568 153 569 28 569 149 569 157 570 299 570 298 570 151 571 296 571 239 571 151 572 149 572 296 572 155 573 157 573 298 573 155 574 298 574 297 574 153 575 155 575 297 575 41 576 44 576 14 576 12 577 41 577 14 577 14 578 44 578 16 578 16 579 44 579 18 579 12 580 40 580 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+ + + + + + + + -6.81325e-4 0 -0.9999998 -4.65661e-10 0 1 0 0 0.9999998 0 -6.81325e-4 -3.72529e-9 0 0 0 1 + + + + + + + + + + -6.81325e-4 0 -0.9999998 0 0 1 0 0 0.9999998 0 -6.81325e-4 -3.72529e-9 0 0 0 1 + + + + + + + + + + -6.81325e-4 0 -0.9999998 0 0 1 0 0 0.9999998 0 -6.81325e-4 0 0 0 0 1 + + + + + + + + + + -6.81325e-4 0 -0.9999998 0 0 1 0 0 0.9999998 0 -6.81325e-4 0 0 0 0 1 + + + + + + + + + + -6.81325e-4 0 -0.9999998 0 0 1 0 0 0.9999998 0 -6.81325e-4 -3.72529e-9 0 0 0 1 + + + + + + + + + + -6.81325e-4 0 -0.9999998 0 0 1 0 9.31323e-10 0.9999998 0 -6.81325e-4 0 0 0 0 1 + + + + + + + + + + -6.81325e-4 0 -0.9999998 0 0 1 0 -9.31323e-10 0.9999998 0 -6.81325e-4 0 0 0 0 1 + + + + + + + + + + -6.81325e-4 0 -0.9999998 0 0 1 0 1.16415e-10 0.9999998 0 -6.81325e-4 3.72529e-9 0 0 0 1 + + + + + + + + + + -6.81325e-4 0 -0.9999998 -4.65661e-10 0 1 0 -1.16415e-10 0.9999998 0 -6.81325e-4 3.72529e-9 0 0 0 1 + + + + + + + + + + -6.81325e-4 0 -0.9999998 9.31323e-10 0 1 0 9.31323e-10 0.9999998 0 -6.81325e-4 -3.72529e-9 0 0 0 1 + + + + + + + + + + -6.81325e-4 0 -0.9999998 -9.31323e-10 0 1 0 -9.31323e-10 0.9999998 0 -6.81325e-4 -3.72529e-9 0 0 0 1 + + + + + + + + + + -6.81325e-4 0 -0.9999998 0 0 1 0 0 0.9999998 0 -6.81325e-4 0 0 0 0 1 + + + + + + + + + + -6.81325e-4 0 -0.9999998 0 0 1 0 0 0.9999998 0 -6.81325e-4 1.86265e-9 0 0 0 1 + + + + + + + + + + -6.81325e-4 0 -0.9999998 0 0 1 0 0 0.9999998 0 -6.81325e-4 0 0 0 0 1 + + + + + + + + + + + + + + \ No newline at end of file diff --git a/Gazebo/models/helicopter/model.config b/Gazebo/models/helicopter/model.config new file mode 100755 index 00000000..71e96e11 --- /dev/null +++ b/Gazebo/models/helicopter/model.config @@ -0,0 +1,19 @@ + + + Helicopter + 1.0 + model.sdf + + + Rhys Mainwaring + rhys.mainwaring@me.com + + + + Helicopter with a direct drive fixed pitch tail rotor. + + Original CAD model sourced from: + Andrey Sazonov + https://grabcad.com/library/rc-helicopter-t-rex-450 + + diff --git a/Gazebo/models/helicopter/model.sdf b/Gazebo/models/helicopter/model.sdf new file mode 100644 index 00000000..ac65dcb2 --- /dev/null +++ b/Gazebo/models/helicopter/model.sdf @@ -0,0 +1,291 @@ + + + + + + + 0.3625 0 0 0 0 0 + 0.5 + + 0.001670833 + 0 + 0 + 0.017608333 + 0 + 0.019270833 + + + + 0.2 0 0 0 0 0 + + + 0.4 0.2 0.24 + + + + + + 1.0e6 + 1.0e6 + + + + + + 0.15 0 0.05 90 0 -90 + + + 1.75 1.75 1.75 + meshes/trex450_frame.dae + + + + + 0.15 0 0 180 0 0 + 1 + 1000.0 + + + + + model://rotor_head_cw + rotor_head_cw + 0.15 0 0.23 0 0 13 + + + 0 0 0 0 0 0 + base_link + rotor_head_cw::base_link + + + + -0.605 0 0.075 90 0 0 + + 0.05 + + 5.9375E-06 + 0 + 0 + 5.9375E-06 + 0 + 0.00001 + + + + + + 0.02 + 0.015 + + + + + 0.0375 0 0.035 0 0 0 + + + 0.075 0.02 0.004 + + + + + -0.0375 0 0.035 0 0 180 + + + 0.075 0.02 0.004 + + + + + 0 0 -0.007 0 0 -60 + + + 1.75 1.75 1.75 + meshes/trex450_tail_rotor_head.dae + + + + + 0.03 0 0.052 90 30 -90 + + + 1.75 1.75 1.75 + meshes/trex450_tail_blade.dae + + + + + -0.03 0 0.052 90 30 90 + + + 1.75 1.75 1.75 + meshes/trex450_tail_blade.dae + + + + + + 0 0 0 0 0 0 + base_link + tail_motor_link + + 0 0 1 + + -1.0e16 + 1.0e16 + + + 0.01 + + + + + + + + + + tail_motor_joint + 0.0 + 1 + 0 + 0.02 + 0.01 + 0.0 + 1 + -1 + 5 + -5 + 0 + + + + + 0.3 + 1.4 + 4.2500 + 0.10 + 0.0 + -0.025 + 0.0 + 0.0 + 0.0015 + 1.2041 + 0.0375 0 0 + 0 1 0 + 0 0 -1 + tail_motor_link + + + 0.3 + 1.4 + 4.2500 + 0.10 + 0.0 + -0.025 + 0.0 + 0.0 + 0.0015 + 1.2041 + -0.0375 0 0 + 0 -1 0 + 0 0 -1 + tail_motor_link + + + + + 127.0.0.1 + 9002 + 5 + 1 + 0 + + + 0 0 0 180 0 0 + 0 0 0 180 0 90 + + + base_link::imu_sensor + + + + + + rotor_head_cw::main_joint + 500 + 0 + 1000 + 2000 + COMMAND + /model/rotor_head_cw/joint/main_joint/cmd_vel + + + + + tail_motor_joint + 800 + 0 + 1000 + 2000 + COMMAND + /model/helicopter/joint/tail_motor_joint/cmd_vel + + + + + rotor_head_cw::servo_arm_1_joint + 0.04 + -0.5 + 2000 + 1000 + COMMAND + /model/rotor_head_cw/joint/servo_arm_1_joint/0/cmd_pos + + + + + rotor_head_cw::servo_arm_2_joint + 0.04 + -0.5 + 2000 + 1000 + COMMAND + /model/rotor_head_cw/joint/servo_arm_2_joint/0/cmd_pos + + + + + rotor_head_cw::servo_arm_3_joint + 0.04 + -0.5 + 2000 + 1000 + COMMAND + /model/rotor_head_cw/joint/servo_arm_3_joint/0/cmd_pos + + + + + + \ No newline at end of file diff --git a/Gazebo/models/helicopter_dual_intermesh/model.config b/Gazebo/models/helicopter_dual_intermesh/model.config new file mode 100755 index 00000000..d3086911 --- /dev/null +++ b/Gazebo/models/helicopter_dual_intermesh/model.config @@ -0,0 +1,15 @@ + + + HelicopterDualIntermesh + 1.0 + model.sdf + + + Rhys Mainwaring + rhys.mainwaring@me.com + + + + Helicopter with dual intermeshing rotors. + + diff --git a/Gazebo/models/helicopter_dual_intermesh/model.sdf b/Gazebo/models/helicopter_dual_intermesh/model.sdf new file mode 100644 index 00000000..b48f6e4e --- /dev/null +++ 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+ + + + \ No newline at end of file diff --git a/Gazebo/models/helicopter_dual_transverse/model.config b/Gazebo/models/helicopter_dual_transverse/model.config new file mode 100755 index 00000000..e95f502f --- /dev/null +++ b/Gazebo/models/helicopter_dual_transverse/model.config @@ -0,0 +1,15 @@ + + + HelicopterDualTransverse + 1.0 + model.sdf + + + Rhys Mainwaring + rhys.mainwaring@me.com + + + + Helicopter with dual transverse rotors. + + diff --git a/Gazebo/models/helicopter_dual_transverse/model.sdf b/Gazebo/models/helicopter_dual_transverse/model.sdf new file mode 100644 index 00000000..055bcc66 --- /dev/null +++ b/Gazebo/models/helicopter_dual_transverse/model.sdf @@ -0,0 +1,465 @@ + + + + + + + 0 0 0 0 0 0 + + 1.0 + + 0.003341667 + 0 + 0 + 0.035216667 + 0 + 0.038541667 + + + + + + 0.65 0.2 0.01 + + + + + 0.32 0 0 0 0 0 + + + 0.01 1.0 0.01 + + + + + 0.32 0 0 0 0 0 + + + 0.01 1.0 0.01 + + + + + + + 0.65 0.2 0.01 + + + + 1 0.65 0 + 1 0.65 0 + 0.1 0.1 0.1 + + + + 0.32 0 0 0 0 0 + + + 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+ + + + + + + + -4.30473e-8 5.13018e-8 1 -7.27596e-12 0.9848077 -0.1736482 5.13018e-8 3.72529e-9 0.1736482 0.9848077 -4.30473e-8 0 0 0 0 1 + + + + + + + + + + + + + + 0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 + + + + + + + + \ No newline at end of file diff --git a/Gazebo/models/rotor_head_ccw/model.config b/Gazebo/models/rotor_head_ccw/model.config new file mode 100755 index 00000000..f4db0ad7 --- /dev/null +++ b/Gazebo/models/rotor_head_ccw/model.config @@ -0,0 +1,18 @@ + + + RotorHeadCCW + 1.0 + model.sdf + + + Rhys Mainwaring + rhys.mainwaring@me.com + + + + A helicopter rotor head (counter clockwise) + + Original CAD model sourced from + https://grabcad.com/library/two-blade-small-helicopter-rotor-head-2 + + diff --git a/Gazebo/models/rotor_head_ccw/model.sdf b/Gazebo/models/rotor_head_ccw/model.sdf new file mode 100644 index 00000000..1eac38ed --- /dev/null +++ b/Gazebo/models/rotor_head_ccw/model.sdf @@ -0,0 +1,1969 @@ + + + + + + 0 0 -0.2 0 0 -13 + + 0 0 0 0 0 0 + 0.1 + + 4.16667E-05 + 0 + 0 + 4.16667E-05 + 0 + 4.16667E-05 + + + + + + 0.05 0.05 0.05 + + + + + + + 0.05 0.05 0.05 + + + + 0.2 0.2 0.2 + 0.2 0.2 0.2 + 0.1 0.1 0.1 1 + + + + + + 0 0 0 0 0 0 + base_link + main_link + + 0 0 1 + + -1.0e16 + 1.0e16 + + + + 0.001 + 0 + + + + + + + + + -0.01 0.003 0 0 0 0 + + 0.001 + + 1.00000E-08 + 0 + 0 + 1.00000E-08 + 0 + 1.00000E-08 + + + + + + 0.005 + + + + + + + 0.005 + + + + 0.2 0.2 0.2 + 0.2 0.2 0.2 + 0.1 0.1 0.1 1 + + + + + 0 0 0 0 0 -13 + swash_plate_down_part_link + guide_h_link + + 1 0 0 + + -0.05 + 0.05 + + + 0.01 + 0 + + + + + 0 0 0 0 0 0 + + 0.01 + + 1.00000E-07 + 0 + 0 + 1.00000E-07 + 0 + 1.00000E-07 + + + + + + 0.005 + + + + + + + 0.005 + + + + 0.2 0.2 0.2 + 0.2 0.2 0.2 + 0.1 0.1 0.1 1 + + + + + 0 0 0 0 0 -13 + guide_h_link + 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