From 92db1998ecf737ccbe6266e8374eb8c70b778fac Mon Sep 17 00:00:00 2001 From: Rhys Mainwaring Date: Tue, 17 Oct 2023 12:34:40 +0100 Subject: [PATCH] Gazebo: add MiniHawk-VTOL model MiniHawk-VTOL: initial model file and example world Signed-off-by: Rhys Mainwaring MiniHawk-VTOL: add mesh files, joint plugins and adjust joints and CoMs Signed-off-by: Rhys Mainwaring MiniHawk-VTOL: update world plugins and model orientation Signed-off-by: Rhys Mainwaring MiniHawk-VTOL: fix elevon collisions and tilt mount joint limits and configure ardupilot Signed-off-by: Rhys Mainwaring MiniHawk-VTOL: initial parameters (pre-tune) Signed-off-by: Rhys Mainwaring MiniHawk-VTOL: reorient prop meshes and configure prop lift-drag Signed-off-by: Rhys Mainwaring MiniHawk-VTOL: centre tilt mount meshes on CoG and add bi-blade params for lift-drag Signed-off-by: Rhys Mainwaring MiniHawk-VTOL: switch to tri-blade props after moving cp to blade tips Signed-off-by: Rhys Mainwaring MiniHawk-VTOL: update params after running Quick VTOL tune script Signed-off-by: Rhys Mainwaring MiniHawk-VTOL: add initial estimates for lift-drag params on lifting surfaces Signed-off-by: Rhys Mainwaring MiniHawk-VTOL: increase prop thrust, autotune qvtol and fbwa Signed-off-by: Rhys Mainwaring MiniHawk-VTOL: remove debug visuals Signed-off-by: Rhys Mainwaring MiniHawk-VTOL: adjust params Signed-off-by: Rhys Mainwaring MiniHawk-VTOL: rename param file Signed-off-by: Rhys Mainwaring --- Gazebo/config/minihawk_vtol.param | 1512 +++++++++++++++ .../minihawk_vtol/meshes/mh5_airframe.dae | 101 + .../minihawk_vtol/meshes/mh5_airframe.stl | Bin 0 -> 776284 bytes .../minihawk_vtol/meshes/mh5_elevon_left.dae | 101 + .../minihawk_vtol/meshes/mh5_elevon_left.stl | Bin 0 -> 217384 bytes .../minihawk_vtol/meshes/mh5_elevon_right.dae | 101 + .../minihawk_vtol/meshes/mh5_elevon_right.stl | Bin 0 -> 217384 bytes .../minihawk_vtol/meshes/mh5_nacelle_left.dae | 105 ++ .../meshes/mh5_nacelle_right.dae | 101 + .../meshes/mh5_tilt_mount_left.dae | 101 + .../meshes/mh5_tilt_mount_right.dae | 101 + .../meshes/prop_triblade_5045_ccw.dae | 89 + .../meshes/prop_triblade_5045_ccw.stl | Bin 0 -> 144084 bytes .../meshes/prop_triblade_5045_cw.dae | 89 + .../meshes/prop_triblade_5045_cw.stl | Bin 0 -> 144084 bytes Gazebo/models/minihawk_vtol/model.config | 22 + Gazebo/models/minihawk_vtol/model.sdf | 1652 +++++++++++++++++ Gazebo/worlds/minihawk_runway.sdf | 77 + 18 files changed, 4152 insertions(+) create mode 100644 Gazebo/config/minihawk_vtol.param create mode 100644 Gazebo/models/minihawk_vtol/meshes/mh5_airframe.dae create mode 100644 Gazebo/models/minihawk_vtol/meshes/mh5_airframe.stl create mode 100644 Gazebo/models/minihawk_vtol/meshes/mh5_elevon_left.dae create mode 100644 Gazebo/models/minihawk_vtol/meshes/mh5_elevon_left.stl create mode 100644 Gazebo/models/minihawk_vtol/meshes/mh5_elevon_right.dae create mode 100644 Gazebo/models/minihawk_vtol/meshes/mh5_elevon_right.stl create mode 100644 Gazebo/models/minihawk_vtol/meshes/mh5_nacelle_left.dae create mode 100644 Gazebo/models/minihawk_vtol/meshes/mh5_nacelle_right.dae create mode 100644 Gazebo/models/minihawk_vtol/meshes/mh5_tilt_mount_left.dae create mode 100644 Gazebo/models/minihawk_vtol/meshes/mh5_tilt_mount_right.dae create mode 100644 Gazebo/models/minihawk_vtol/meshes/prop_triblade_5045_ccw.dae create mode 100644 Gazebo/models/minihawk_vtol/meshes/prop_triblade_5045_ccw.stl create mode 100644 Gazebo/models/minihawk_vtol/meshes/prop_triblade_5045_cw.dae create mode 100644 Gazebo/models/minihawk_vtol/meshes/prop_triblade_5045_cw.stl create mode 100644 Gazebo/models/minihawk_vtol/model.config create mode 100644 Gazebo/models/minihawk_vtol/model.sdf create mode 100755 Gazebo/worlds/minihawk_runway.sdf diff --git a/Gazebo/config/minihawk_vtol.param b/Gazebo/config/minihawk_vtol.param new file mode 100644 index 00000000..912ddbed --- /dev/null +++ b/Gazebo/config/minihawk_vtol.param @@ -0,0 +1,1512 @@ +ACRO_LOCKING 0 +ACRO_PITCH_RATE 180 +ACRO_ROLL_RATE 180 +ACRO_YAW_RATE 0 +ADSB_TYPE 0 +AFS_ENABLE 0 +AHRS_COMP_BETA 0.100000 +AHRS_EKF_TYPE 3 +AHRS_GPS_GAIN 1.000000 +AHRS_GPS_MINSATS 6 +AHRS_GPS_USE 1 +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 +ALT_HOLD_FBWCM 0 +ALT_HOLD_RTL 10000 +ALT_OFFSET 0 +ARMING_ACCTHRESH 0.750000 +ARMING_CHECK 1 +ARMING_MAGTHRESH 100 +ARMING_MIS_ITEMS 0 +ARMING_OPTIONS 0 +ARMING_REQUIRE 1 +ARMING_RUDDER 0 +ARSPD2_TYPE 0 +ARSPD_FBW_MAX 32 +ARSPD_FBW_MIN 17 +ARSPD_OFF_PCNT 0 +ARSPD_OPTIONS 11 +ARSPD_PRIMARY 0 +ARSPD_TYPE 0 +ARSPD_WIND_GATE 5.000000 +ARSPD_WIND_MAX 0.000000 +ARSPD_WIND_WARN 0.000000 +AUTOTUNE_AXES 7 +AUTOTUNE_LEVEL 6 +AUTOTUNE_OPTIONS 0 +AVD_ENABLE 0 +BARO1_DEVID 65540 +BARO1_GND_PRESS 100948.914062 +BARO1_WCF_ENABLE 0 +BARO2_DEVID 65796 +BARO2_GND_PRESS 100946.812500 +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_MONITOR 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_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 +CAM_RC_TYPE 0 +CAN_D1_PROTOCOL 1 +CAN_D2_PROTOCOL 1 +CAN_LOGLEVEL 0 +CAN_P1_DRIVER 0 +CAN_P2_DRIVER 0 +CHUTE_ENABLED 0 +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_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 5.000000 +COMPASS_OFS3_Y 13.000000 +COMPASS_OFS3_Z -18.000000 +COMPASS_OFS_X 5.000000 +COMPASS_OFS_Y 13.000000 +COMPASS_OFS_Z -18.000000 +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_TYPEMASK 0 +COMPASS_USE 1 +COMPASS_USE2 1 +COMPASS_USE3 1 +CRASH_ACC_THRESH 0 +CRASH_DETECT 0 +CUST_ROT_ENABLE 0 +DID_ENABLE 0 +DSPOILER_AILMTCH 100 +DSPOILER_CROW_W1 0 +DSPOILER_CROW_W2 0 +DSPOILER_OPTS 3 +DSPOILR_RUD_RATE 100 +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 3.000000 +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 500 +EK3_FLOW_M_NSE 0.150000 +EK3_FLOW_USE 2 +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 0 +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_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 0.700000 +EK3_VELNE_M_NSE 0.500000 +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 0.100000 +EK3_YAW_I_GATE 300 +EK3_YAW_M_NSE 0.500000 +ESC_TLM_MAV_OFS 0 +FBWB_CLIMB_RATE 2 +FBWB_ELEV_REV 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_OPTIONS 1 +FENCE_RADIUS 300.000000 +FENCE_RET_ALT 0 +FENCE_RET_RALLY 0 +FENCE_TOTAL 0 +FENCE_TYPE 4 +FFT_ENABLE 0 +FLAP_1_PERCNT 0 +FLAP_1_SPEED 0 +FLAP_2_PERCNT 0 +FLAP_2_SPEED 0 +FLAP_SLEWRATE 75 +FLIGHT_OPTIONS 0 +FLOW_TYPE 0 +FLTMODE1 5 +FLTMODE2 17 +FLTMODE3 18 +FLTMODE4 19 +FLTMODE5 21 +FLTMODE6 22 +FLTMODE_CH 8 +FLTMODE_GCSBLOCK 0 +FOLL_ENABLE 0 +FORMAT_VERSION 13 +FRSKY_DNLINK1_ID 20 +FRSKY_DNLINK2_ID 7 +FRSKY_DNLINK_ID 27 +FRSKY_OPTIONS 0 +FRSKY_UPLINK_ID 13 +FS_EKF_THRESH 0.800000 +FS_GCS_ENABL 0 +FS_LONG_ACTN 1 +FS_LONG_TIMEOUT 3.000000 +FS_SHORT_ACTN 0 +FS_SHORT_TIMEOUT 1.000000 +FWD_BAT_IDX 0 +FWD_BAT_VOLT_MAX 0.000000 +FWD_BAT_VOLT_MIN 0.000000 +GCS_PID_MASK 1 +GEN_TYPE 0 +GLIDE_SLOPE_MIN 15 +GLIDE_SLOPE_THR 5.000000 +GPS1_CAN_OVRIDE 0 +GPS2_CAN_OVRIDE 0 +GPS_AUTO_CONFIG 1 +GPS_AUTO_SWITCH 1 +GPS_BLEND_MASK 5 +GPS_BLEND_TC 10.000000 +GPS_CAN_NODEID1 0 +GPS_CAN_NODEID2 0 +GPS_COM_PORT 1 +GPS_COM_PORT2 1 +GPS_DELAY_MS 0 +GPS_DELAY_MS2 0 +GPS_DRV_OPTIONS 0 +GPS_GNSS_MODE 0 +GPS_GNSS_MODE2 0 +GPS_INJECT_TO 127 +GPS_MB1_TYPE 0 +GPS_MB2_TYPE 0 +GPS_MIN_DGPS 100 +GPS_MIN_ELEV -100 +GPS_NAVFILTER 8 +GPS_POS1_X 0.000000 +GPS_POS1_Y 0.000000 +GPS_POS1_Z 0.000000 +GPS_POS2_X 0.000000 +GPS_POS2_Y 0.000000 +GPS_POS2_Z 0.000000 +GPS_PRIMARY 0 +GPS_RATE_MS 200 +GPS_RATE_MS2 200 +GPS_RAW_DATA 0 +GPS_SAVE_CFG 2 +GPS_SBAS_MODE 2 +GPS_SBP_LOGMASK -256 +GPS_TYPE 1 +GPS_TYPE2 0 +GRIP_ENABLE 0 +GROUND_STEER_ALT 0.000000 +GROUND_STEER_DPS 90 +GUIDED_D 0.000000 +GUIDED_FF 0.000000 +GUIDED_FLTD 5.000000 +GUIDED_FLTE 5.000000 +GUIDED_FLTT 5.000000 +GUIDED_I 0.000000 +GUIDED_IMAX 10.000000 +GUIDED_P 5000.000000 +GUIDED_PDMX 0.000000 +GUIDED_SMAX 0.000000 +HOME_RESET_ALT 0 +ICE_ENABLE 0 +INITIAL_MODE 17 +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 +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 +INS_ENABLE_MASK 127 +INS_FAST_SAMPLE 1 +INS_GYR1_CALTEMP 43.827003 +INS_GYR2OFFS_X 0.003538 +INS_GYR2OFFS_Y 0.003904 +INS_GYR2OFFS_Z 0.003854 +INS_GYR2_CALTEMP 43.827003 +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 0.003562 +INS_GYROFFS_Y 0.003895 +INS_GYROFFS_Z 0.003897 +INS_GYRO_FILTER 20 +INS_GYRO_RATE 0 +INS_GYR_CAL 0 +INS_GYR_ID 2752772 +INS_HNTC2_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 0.050000 +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 +KFF_RDDRMIX 0.000000 +KFF_THR2PTCH 0.000000 +LAND_ABORT_DEG 0.000000 +LAND_ABORT_THR 0 +LAND_DISARMDELAY 20 +LAND_FLAP_PERCNT 0 +LAND_FLARE_AIM 50 +LAND_FLARE_ALT 3.000000 +LAND_FLARE_SEC 2.000000 +LAND_OPTIONS 0 +LAND_PF_ALT 10.000000 +LAND_PF_ARSPD 0.000000 +LAND_PF_SEC 6.000000 +LAND_PITCH_CD 0 +LAND_SLOPE_RCALC 2.000000 +LAND_THEN_NEUTRL 0 +LAND_THR_SLEW 0 +LAND_TYPE 0 +LAND_WIND_COMP 50.000000 +LEVEL_ROLL_LIMIT 5 +LGR_ENABLE 0 +LIM_PITCH_MAX 2000 +LIM_PITCH_MIN -2500 +LIM_ROLL_CD 5500 +LOG_BACKEND_TYPE 1 +LOG_BITMASK 65535 +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_REPLAY 0 +MANUAL_RCMASK 0 +MAN_EXPO_PITCH 0 +MAN_EXPO_ROLL 0 +MAN_EXPO_RUDDER 0 +MIN_GNDSPD_CM 0 +MIS_OPTIONS 0 +MIS_RESTART 0 +MIS_TOTAL 0 +MIXING_GAIN 0.500000 +MIXING_OFFSET 0 +MNT1_TYPE 0 +MNT2_TYPE 0 +MSP_OPTIONS 0 +MSP_OSD_NCELLS 0 +NAVL1_DAMPING 0.750000 +NAVL1_LIM_BANK 0.000000 +NAVL1_PERIOD 11.000000 +NAVL1_XTRACK_I 0.020000 +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 24775 +ONESHOT_MASK 0 +OSD_TYPE 0 +PTCH2SRV_RLL 1.000000 +PTCH2SRV_RMAX_DN 75 +PTCH2SRV_RMAX_UP 75 +PTCH2SRV_TCONST 0.750000 +PTCH_RATE_D 0.007483 +PTCH_RATE_FF 0.709647 +PTCH_RATE_FLTD 10.000000 +PTCH_RATE_FLTE 0.000000 +PTCH_RATE_FLTT 2.122066 +PTCH_RATE_I 0.709647 +PTCH_RATE_IMAX 0.666000 +PTCH_RATE_P 0.465621 +PTCH_RATE_PDMX 0.000000 +PTCH_RATE_SMAX 150.000000 +QUIK_AUTO_FILTER 1.000000 +QUIK_AUTO_SAVE 0.000000 +QUIK_AXES 7.000000 +QUIK_DOUBLE_TIME 10.000000 +QUIK_ENABLE 1.000000 +QUIK_GAIN_MARGIN 60.000000 +QUIK_MAX_REDUCE 20.000000 +QUIK_OSC_SMAX 5.000000 +QUIK_RC_FUNC 300.000000 +QUIK_RP_PI_RATIO 1.000000 +QUIK_YAW_D_MAX 0.010000 +QUIK_YAW_P_MAX 0.500000 +QUIK_Y_PI_RATIO 10.000000 +Q_ACCEL_Z 250 +Q_ACRO_PIT_RATE 180.000000 +Q_ACRO_RLL_RATE 360.000000 +Q_ACRO_YAW_RATE 90.000000 +Q_ANGLE_MAX 3000 +Q_ASSIST_ALT 0 +Q_ASSIST_ANGLE 0 +Q_ASSIST_DELAY 0.500000 +Q_ASSIST_SPEED -1.000000 +Q_AUTOTUNE_AGGR 0.100000 +Q_AUTOTUNE_AXES 7 +Q_AUTOTUNE_MIN_D 0.001000 +Q_A_ACCEL_P_MAX 40000.000000 +Q_A_ACCEL_R_MAX 40000.000000 +Q_A_ACCEL_Y_MAX 10000.000000 +Q_A_ANGLE_BOOST 1 +Q_A_ANG_LIM_TC 1.000000 +Q_A_ANG_PIT_P 4.500000 +Q_A_ANG_RLL_P 4.500000 +Q_A_ANG_YAW_P 4.500000 +Q_A_INPUT_TC 0.200000 +Q_A_RATE_FF_ENAB 1 +Q_A_RATE_P_MAX 75.000000 +Q_A_RATE_R_MAX 75.000000 +Q_A_RATE_Y_MAX 75.000000 +Q_A_RAT_PIT_D 0.015387 +Q_A_RAT_PIT_FF 0.000000 +Q_A_RAT_PIT_FLTD 10.000000 +Q_A_RAT_PIT_FLTE 0.000000 +Q_A_RAT_PIT_FLTT 10.000000 +Q_A_RAT_PIT_I 0.412288 +Q_A_RAT_PIT_IMAX 0.500000 +Q_A_RAT_PIT_P 0.412288 +Q_A_RAT_PIT_PDMX 0.000000 +Q_A_RAT_PIT_SMAX 50.000000 +Q_A_RAT_RLL_D 0.004622 +Q_A_RAT_RLL_FF 0.000000 +Q_A_RAT_RLL_FLTD 10.000000 +Q_A_RAT_RLL_FLTE 0.000000 +Q_A_RAT_RLL_FLTT 10.000000 +Q_A_RAT_RLL_I 0.162017 +Q_A_RAT_RLL_IMAX 0.500000 +Q_A_RAT_RLL_P 0.162017 +Q_A_RAT_RLL_PDMX 0.000000 +Q_A_RAT_RLL_SMAX 50.000000 +Q_A_RAT_YAW_D 0.010000 +Q_A_RAT_YAW_FF 0.000000 +Q_A_RAT_YAW_FLTD 10.000000 +Q_A_RAT_YAW_FLTE 2.000000 +Q_A_RAT_YAW_FLTT 10.000000 +Q_A_RAT_YAW_I 0.050000 +Q_A_RAT_YAW_IMAX 0.500000 +Q_A_RAT_YAW_P 0.500000 +Q_A_RAT_YAW_PDMX 0.000000 +Q_A_RAT_YAW_SMAX 50.000000 +Q_A_SLEW_YAW 6000.000000 +Q_A_THR_G_BOOST 0.000000 +Q_A_THR_MIX_MAN 0.100000 +Q_A_THR_MIX_MAX 0.500000 +Q_A_THR_MIX_MIN 0.100000 +Q_BACKTRANS_MS 3000 +Q_ENABLE 1 +Q_ESC_CAL 0 +Q_FRAME_CLASS 7 +Q_FRAME_TYPE 1 +Q_FWD_MANTHR_MAX 0.000000 +Q_FWD_PIT_LIM 3.000000 +Q_FWD_THR_GAIN 2.000000 +Q_FWD_THR_USE 0 +Q_FW_LND_APR_RAD 0.000000 +Q_GUIDED_MODE 0 +Q_LAND_ALTCHG 0.200000 +Q_LAND_FINAL_ALT 6.000000 +Q_LAND_ICE_CUT 1 +Q_LAND_SPEED 50 +Q_LOIT_ACC_MAX 250.000000 +Q_LOIT_ANG_MAX 15.000000 +Q_LOIT_BRK_ACCEL 50.000000 +Q_LOIT_BRK_DELAY 1.000000 +Q_LOIT_BRK_JERK 250.000000 +Q_LOIT_SPEED 500.000000 +Q_MAV_TYPE 0 +Q_M_BAT_CURR_MAX 0.000000 +Q_M_BAT_CURR_TC 5.000000 +Q_M_BAT_IDX 0 +Q_M_BAT_VOLT_MAX 0.000000 +Q_M_BAT_VOLT_MIN 0.000000 +Q_M_BOOST_SCALE 0.000000 +Q_M_HOVER_LEARN 2 +Q_M_OPTIONS 0 +Q_M_PWM_MAX 2000 +Q_M_PWM_MIN 1000 +Q_M_PWM_TYPE 0 +Q_M_SAFE_DISARM 0 +Q_M_SAFE_TIME 1.000000 +Q_M_SLEW_DN_TIME 0.000000 +Q_M_SLEW_UP_TIME 0.000000 +Q_M_SPIN_ARM 0.050000 +Q_M_SPIN_MAX 0.950000 +Q_M_SPIN_MIN 0.050000 +Q_M_SPOOL_TIME 0.250000 +Q_M_SPOOL_TIM_DN 0.000000 +Q_M_THST_EXPO 0.650000 +Q_M_THST_HOVER 0.224587 +Q_M_YAW_HEADROOM 200 +Q_M_YAW_SV_ANGLE 0.000000 +Q_NAVALT_MIN 0.000000 +Q_OPTIONS 2097152 +Q_PLT_Y_EXPO 0.250000 +Q_PLT_Y_RATE 100.000000 +Q_PLT_Y_RATE_TC 0.250000 +Q_P_ACCZ_D 0.000000 +Q_P_ACCZ_FF 0.000000 +Q_P_ACCZ_FLTD 0.000000 +Q_P_ACCZ_FLTE 10.000000 +Q_P_ACCZ_FLTT 0.000000 +Q_P_ACCZ_I 0.757288 +Q_P_ACCZ_IMAX 800.000000 +Q_P_ACCZ_P 0.378644 +Q_P_ACCZ_PDMX 0.000000 +Q_P_ACCZ_SMAX 0.000000 +Q_P_ANGLE_MAX 0.000000 +Q_P_JERK_XY 2.000000 +Q_P_JERK_Z 5.000000 +Q_P_POSXY_P 0.500000 +Q_P_POSZ_P 1.000000 +Q_P_VELXY_D 0.170000 +Q_P_VELXY_FF 0.000000 +Q_P_VELXY_FLTD 5.000000 +Q_P_VELXY_FLTE 5.000000 +Q_P_VELXY_I 0.350000 +Q_P_VELXY_IMAX 1000.000000 +Q_P_VELXY_P 0.700000 +Q_P_VELZ_D 0.000000 +Q_P_VELZ_FF 0.000000 +Q_P_VELZ_FLTD 5.000000 +Q_P_VELZ_FLTE 5.000000 +Q_P_VELZ_I 0.000000 +Q_P_VELZ_IMAX 1000.000000 +Q_P_VELZ_P 5.000000 +Q_RC_SPEED 490 +Q_RTL_ALT 40 +Q_RTL_ALT_MIN 10 +Q_RTL_MODE 1 +Q_TAILSIT_ENABLE 0 +Q_THROTTLE_EXPO 0.200000 +Q_TILT_ENABLE 1 +Q_TILT_FIX_ANGLE 0.000000 +Q_TILT_FIX_GAIN 0.000000 +Q_TILT_MASK 3 +Q_TILT_MAX 55 +Q_TILT_RATE_DN 40 +Q_TILT_RATE_UP 40 +Q_TILT_TYPE 2 +Q_TILT_WING_FLAP 0.000000 +Q_TILT_YAW_ANGLE 14.000000 +Q_TKOFF_ARSP_LIM 0.000000 +Q_TKOFF_FAIL_SCL 0.000000 +Q_TRANSITION_MS 5000 +Q_TRANS_DECEL 2.000000 +Q_TRANS_FAIL 0 +Q_TRANS_FAIL_ACT 0 +Q_TRAN_PIT_MAX 3 +Q_TRIM_PITCH 4.000000 +Q_VELZ_MAX 250 +Q_VELZ_MAX_DN 0 +Q_VFWD_ALT 0.000000 +Q_VFWD_GAIN 0.000000 +Q_WP_ACCEL 100.000000 +Q_WP_ACCEL_C 0.000000 +Q_WP_ACCEL_Z 100.000000 +Q_WP_JERK 1.000000 +Q_WP_RADIUS 200.000000 +Q_WP_RFND_USE 1 +Q_WP_SPEED 500.000000 +Q_WP_SPEED_DN 150.000000 +Q_WP_SPEED_UP 250.000000 +Q_WP_TER_MARGIN 10.000000 +Q_WVANE_ANG_MIN 1.000000 +Q_WVANE_ENABLE 1 +Q_WVANE_GAIN 0.000000 +Q_WVANE_HGT_MIN 0.000000 +Q_WVANE_LAND -1 +Q_WVANE_OPTIONS 0 +Q_WVANE_SPD_MAX 0.000000 +Q_WVANE_TAKEOFF -1 +Q_WVANE_VELZ_MAX 0.000000 +RALLY_INCL_HOME 0 +RALLY_LIMIT_KM 5.000000 +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 30 +RC1_MAX 1900 +RC1_MIN 1100 +RC1_OPTION 0 +RC1_REVERSED 0 +RC1_TRIM 1500 +RC2_DZ 30 +RC2_MAX 1900 +RC2_MIN 1100 +RC2_OPTION 0 +RC2_REVERSED 0 +RC2_TRIM 1500 +RC3_DZ 30 +RC3_MAX 1900 +RC3_MIN 1100 +RC3_OPTION 0 +RC3_REVERSED 0 +RC3_TRIM 1500 +RC4_DZ 30 +RC4_MAX 1900 +RC4_MIN 1100 +RC4_OPTION 0 +RC4_REVERSED 0 +RC4_TRIM 1500 +RC5_DZ 0 +RC5_MAX 1900 +RC5_MIN 1100 +RC5_OPTION 0 +RC5_REVERSED 0 +RC5_TRIM 1500 +RC6_DZ 0 +RC6_MAX 1900 +RC6_MIN 1100 +RC6_OPTION 300 +RC6_REVERSED 0 +RC6_TRIM 1100 +RC7_DZ 0 +RC7_MAX 1900 +RC7_MIN 1100 +RC7_OPTION 0 +RC7_REVERSED 0 +RC7_TRIM 1500 +RC8_DZ 0 +RC8_MAX 1900 +RC8_MIN 1100 +RC8_OPTION 0 +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_OPTIONS 32 +RC_OVERRIDE_TIME 3.000000 +RC_PROTOCOLS 1 +RELAY_DEFAULT 0 +RELAY_PIN 13 +RELAY_PIN2 -1 +RELAY_PIN3 -1 +RELAY_PIN4 -1 +RELAY_PIN5 -1 +RELAY_PIN6 -1 +RLL2SRV_RMAX 75 +RLL2SRV_TCONST 0.500000 +RLL_RATE_D 0.002620 +RLL_RATE_FF 0.056212 +RLL_RATE_FLTD 10.000000 +RLL_RATE_FLTE 0.000000 +RLL_RATE_FLTT 3.183099 +RLL_RATE_I 0.056212 +RLL_RATE_IMAX 0.666000 +RLL_RATE_P 0.250811 +RLL_RATE_PDMX 0.000000 +RLL_RATE_SMAX 150.000000 +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_LANDING 0 +RPM1_TYPE 0 +RPM2_TYPE 0 +RSSI_TYPE 0 +RTL_AUTOLAND 0 +RTL_CLIMB_MIN 0 +RTL_RADIUS 0 +RUDDER_ONLY 0 +RUDD_DT_GAIN 3 +SCALING_SPEED 19.000000 +SCHED_DEBUG 0 +SCHED_LOOP_RATE 300 +SCHED_OPTIONS 0 +SCR_DEBUG_OPTS 0 +SCR_DIR_DISABLE 0 +SCR_ENABLE 1 +SCR_HEAP_SIZE 204800 +SCR_USER1 0.000000 +SCR_USER2 0.000000 +SCR_USER3 0.000000 +SCR_USER4 0.000000 +SCR_USER5 0.000000 +SCR_USER6 0.000000 +SCR_VM_I_COUNT 10000 +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 38 +SERIAL3_OPTIONS 0 +SERIAL3_PROTOCOL 5 +SERIAL4_BAUD 38 +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 39 +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 77 +SERVO1_MAX 2000 +SERVO1_MIN 1000 +SERVO1_REVERSED 0 +SERVO1_TRIM 1500 +SERVO2_FUNCTION 78 +SERVO2_MAX 2000 +SERVO2_MIN 1000 +SERVO2_REVERSED 0 +SERVO2_TRIM 1500 +SERVO3_FUNCTION 75 +SERVO3_MAX 2000 +SERVO3_MIN 1000 +SERVO3_REVERSED 0 +SERVO3_TRIM 1500 +SERVO4_FUNCTION 76 +SERVO4_MAX 2000 +SERVO4_MIN 1000 +SERVO4_REVERSED 0 +SERVO4_TRIM 1500 +SERVO5_FUNCTION 33 +SERVO5_MAX 2000 +SERVO5_MIN 1000 +SERVO5_REVERSED 0 +SERVO5_TRIM 1000 +SERVO6_FUNCTION 34 +SERVO6_MAX 2000 +SERVO6_MIN 1000 +SERVO6_REVERSED 0 +SERVO6_TRIM 1000 +SERVO7_FUNCTION 0 +SERVO7_MAX 1000 +SERVO7_MIN 1000 +SERVO7_REVERSED 0 +SERVO7_TRIM 1000 +SERVO8_FUNCTION 36 +SERVO8_MAX 2000 +SERVO8_MIN 1000 +SERVO8_REVERSED 0 +SERVO8_TRIM 1000 +SERVO9_FUNCTION 0 +SERVO9_MAX 1900 +SERVO9_MIN 1100 +SERVO9_REVERSED 0 +SERVO9_TRIM 1500 +SERVO_32_ENABLE 0 +SERVO_AUTO_TRIM 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 +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_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 0 +SIM_CAN_TYPE2 0 +SIM_DRIFT_SPEED 0.050000 +SIM_DRIFT_TIME 5.000000 +SIM_EFI_TYPE 0 +SIM_ENGINE_FAIL 0 +SIM_ENGINE_MUL 1.000000 +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_GPS2_ACC 0.300000 +SIM_GPS2_ALT_OFS 0 +SIM_GPS2_BYTELOS 0.000000 +SIM_GPS2_DISABLE 1 +SIM_GPS2_DRFTALT 0.000000 +SIM_GPS2_GLTCH_X 0.000000 +SIM_GPS2_GLTCH_Y 0.000000 +SIM_GPS2_GLTCH_Z 0.000000 +SIM_GPS2_HDG 0 +SIM_GPS2_HZ 5 +SIM_GPS2_LAG_MS 100 +SIM_GPS2_LCKTIME 0 +SIM_GPS2_NOISE 0.000000 +SIM_GPS2_NUMSATS 10 +SIM_GPS2_POS_X 0.000000 +SIM_GPS2_POS_Y 0.000000 +SIM_GPS2_POS_Z 0.000000 +SIM_GPS2_TYPE 1 +SIM_GPS2_VERR_X 0.000000 +SIM_GPS2_VERR_Y 0.000000 +SIM_GPS2_VERR_Z 0.000000 +SIM_GPS_ACC 0.300000 +SIM_GPS_ALT_OFS 0 +SIM_GPS_BYTELOSS 0.000000 +SIM_GPS_DISABLE 0 +SIM_GPS_DRIFTALT 0.000000 +SIM_GPS_GLITCH_X 0.000000 +SIM_GPS_GLITCH_Y 0.000000 +SIM_GPS_GLITCH_Z 0.000000 +SIM_GPS_HDG 0 +SIM_GPS_HZ 5 +SIM_GPS_LAG_MS 100 +SIM_GPS_LOCKTIME 0 +SIM_GPS_LOG_NUM 0 +SIM_GPS_NOISE 0.000000 +SIM_GPS_NUMSATS 10 +SIM_GPS_POS_X 0.000000 +SIM_GPS_POS_Y 0.000000 +SIM_GPS_POS_Z 0.000000 +SIM_GPS_TYPE 1 +SIM_GPS_VERR_X 0.000000 +SIM_GPS_VERR_Y 0.000000 +SIM_GPS_VERR_Z 0.000000 +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_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 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1.815142422 + -0.5 + 1000 + 2000 + + 1 + POSITION + 10.0 + 0 + 0 + -1 + 0 + 2.5 + -2.5 + + + + + + + tilt_mount_right_joint + 1.815142422 + -0.5 + 1000 + 2000 + + 1 + POSITION + 10.0 + 0 + 0 + -1 + 0 + 2.5 + -2.5 + + + + + + + motor_right_joint + 1500 + 0 + 1000 + 2000 + + 1 + VELOCITY + 0.20 + 0 + 0 + -1 + 0 + 2.5 + -2.5 + + + + + + + motor_left_joint + -1500 + 0 + 1000 + 2000 + + 1 + VELOCITY + 0.20 + 0 + 0 + -1 + 0 + 2.5 + -2.5 + + + + + + + + + motor_tail_joint + 1500 + 0 + 1000 + 2000 + + 1 + VELOCITY + 0.20 + 0 + 0 + -1 + 0 + 2.5 + -2.5 + + + + + + + + diff --git a/Gazebo/worlds/minihawk_runway.sdf b/Gazebo/worlds/minihawk_runway.sdf new file mode 100755 index 00000000..c41e395c --- /dev/null +++ b/Gazebo/worlds/minihawk_runway.sdf @@ -0,0 +1,77 @@ + + + + + 0.001 + 1.0 + + + + + + ogre2 + + + + + + + + + + + + + + + + + + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + -35.3632621 + 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