Px4-xplane sitl airframe for Fixed Wing and Multicopter and VTOL

ROMFS/px4fmu_common/init.d-posix/airframes/5001_xplane_cessna172

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+#!/bin/sh
+#
+# PX4 SITL Configuration Script for Cessna 172 Skyhawk in X-Plane
+#
+# This script configures PX4 SITL for a Cessna 172 Skyhawk, a standard fixed-wing plane.
+# It's tailored for integration with X-Plane, a custom simulator, facilitating real-world scale simulation.
+#
+# Usage: Run with 'make px4_sitl xplane_cessna172'.
+#
+# @name: Cessna 172 Skyhawk
+# Compatible Simulator: X-Plane
+# @type Standard Plane
+# @maintainer alireza787b <[email protected]>
+# Date: Nov 2023
+# @url https://github.com/alireza787b/px4xplane/
+#
+# ---- Start of Configuration ----
+
+# Load default configuration for fixed-wing aircraft
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default EKF2_ABL_TAU 0.3
+param set-default EKF2_ABL_LIM 2
+param set-default EKF2_BARO_CTRL 1
+
+
+
+# ---- Airframe Configuration Parameters ----
+# These parameters define the physical configuration of the Cessna 172 Skyhawk airframe
+param set-default CA_AIRFRAME 1
+param set-default CA_ROTOR_COUNT 1
+
+# ---- Control Surface Configuration ----
+# Configuration of control surfaces for flight control and maneuvering
+param set-default CA_SV_CS_COUNT 4
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS3_TRQ_Y 1.0
+
+# ---- Simulator Sensor Configuration ----
+# Enabling simulated sensors for integration with X-Plane
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 1
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 1
+
+# ---- PWM Output Configuration ----
+# Assignments for PWM main outputs
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 202
+param set-default PWM_MAIN_FUNC3 203
+param set-default PWM_MAIN_FUNC4 101
+param set-default PWM_MAIN_FUNC5 204
+param set-default PWM_MAIN_FUNC6 204
+
+# ---- Fixed-wing Specific Parameters ----
+# Parameters specific to fixed-wing flight dynamics
+param set-default FW_AIRSPD_MAX 75.0000
+param set-default FW_AIRSPD_MIN 30.0000
+param set-default FW_AIRSPD_STALL 25.0000
+param set-default FW_AIRSPD_TRIM 45.0000
+param set-default ASPD_FALLBACK_GW 1
+param set-default FW_RR_FF 4.8000
+param set-default FW_R_LIM 30.0000
+param set-default LNDFW_VEL_XY_MAX 15.0000
+param set-default FW_LND_FLALT  5.0000
+param set-default RTL_LOITER_RAD 1000.0000
+param set-default RTL_DESCEND_ALT 200.0000
+param set-default FW_LND_FL_PMAX 35.0000
+
+# ---- PWM Reversals ----
+# Configuration for reversing the PWM signal
+param set-default PWM_MAIN_REV 7
+
+# ---- Logging Configuration ----
+# Settings related to flight data logging
+param set-default SDLOG_MODE 0
+
+# ---- Circuit Breakers ----
+# Disabling various system checks (use with caution)
+param set-default CBRK_USB_CHK 197848      # Disable USB check
+param set-default CBRK_SUPPLY_CHK 894281   # Disable real battery check
+param set-default CBRK_IO_SAFETY 22027     # Disable safety switch check
+param set-default CBRK_AIRSPD_CHK 1612128  # Disable airspeed sensor check
+
+# ---- End of Configuration ----
+#new
+
+param set-default FW_TKO_AIRSPD 32.0000
+param set-default FW_TKO_PITCH_MIN 20.0000
+param set-default FW_T_CLMB_MAX 6.0000
+param set-default FW_WING_HEIGHT 2.5000
+param set-default FW_WING_SPAN 11.0000
+param set-default MIS_DIST_1WP 5000.0000
+param set-default MIS_TAKEOFF_ALT 100.0000
+param set-default MIS_TKO_LAND_REQ 0
+param set-default NAV_LOITER_RAD 1000.0000
+param set-default RTL_MIN_DIST 50.0000
+param set-default WEIGHT_BASE 1000.0000
+param set-default WEIGHT_GROSS 1000.0000
+param set-default CA_ROTOR0_PX 1.2000
+
+
+param set-default CA_R0_SLEW 2.0000
+param set-default EKF2_ABL_ACCLIM 35.0000
+param set-default EKF2_MAG_DELAY 1.0000
+param set-default FW_LND_ABORT 0
+param set-default FW_PN_R_SLEW_MAX 50.0000
+param set-default FW_PR_FF 3.4000
+param set-default FW_PR_I 0.0450
+param set-default FW_PR_P 0.3650
+param set-default FW_P_LIM_MAX 20.0000
+param set-default FW_P_LIM_MIN -15.0000
+param set-default MPC_JERK_AUTO 1.0000
+param set-default MPC_JERK_MAX 3.0000
+param set-default FW_P_TC 0.4500
+param set-default FW_RR_P 0.4700
+param set-default FW_R_RMAX 10.0000
+param set-default FW_R_TC 0.6000
+param set-default FW_T_ALT_TC 10.0000
+param set-default FW_T_I_GAIN_THR 0.0200
+param set-default FW_T_RLL2THR 5.0000
+param set-default FW_T_STE_R_TC 2.5000
+param set-default FW_T_THR_DAMP 0.0000
+param set-default LNDFW_AIRSPD_MAX 30.0000
+param set-default MIS_YAW_ERR 30.0000
+param set-default MIS_YAW_TMT 5.0000
+
+param set-default NAV_ACC_RAD 300.0000
+param set-default NAV_FW_ALT_RAD 50.0000
+param set-default MPC_MAN_Y_MAX 20.0000
+param set-default NAV_MIN_LTR_ALT -1.0000
+
+param set-default EKF2_MAG_TYPE 0
+param set-default FW_LND_AIRSPD 36.0000
+param set-default FW_PR_D 0.3550
+param set-default FW_RR_D 0.0850
+param set-default FW_RR_I 0.1300
+param set-default SYS_HAS_MAG 1

ROMFS/px4fmu_common/init.d-posix/airframes/5002_xplane_tb2

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+#!/bin/sh
+#
+# @name TB2 Fixed Wing Aircraft
+# @type Plane A-Tail
+# @class Plane
+#
+# @output Motor1 throttle
+# @output Servo1 aileron right
+# @output Servo2 aileron left
+# @output Servo3 v-tail right
+# @output Servo4 v-tail left
+# @output Servo5 wheel
+# @output Servo6 flaps right
+# @output Servo7 flaps left
+#
+# @maintainer Alireza Ghaderi <[email protected]>
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+# --- Aircraft Configuration ---
+param set-default CA_AIRFRAME 1
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_SV_CS_COUNT 7
+
+
+param set-default EKF2_ABL_TAU 0.3
+param set-default EKF2_ABL_LIM 2
+param set-default EKF2_BARO_CTRL 1
+
+
+# --- Control Surface Configuration ---
+param set-default CA_SV_CS0_TYPE 1     # Left aileron
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 2     # Right aileron
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS2_TYPE 13    # Left V-tail
+param set-default CA_SV_CS2_TRQ_P 0.5
+param set-default CA_SV_CS2_TRQ_Y -0.5
+param set-default CA_SV_CS3_TYPE 14    # Right V-tail
+param set-default CA_SV_CS3_TRQ_P 0.5
+param set-default CA_SV_CS3_TRQ_Y 0.5
+param set-default CA_SV_CS4_TYPE 16    # Wheel
+param set-default CA_SV_CS4_TRQ_Y 0
+param set-default CA_SV_CS5_TYPE 9     # Left flap
+param set-default CA_SV_CS6_TYPE 10    # Right flap
+
+# --- PWM Configuration and Reversals ---
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 202
+param set-default PWM_MAIN_FUNC3 203
+param set-default PWM_MAIN_FUNC4 204
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 205
+param set-default PWM_MAIN_FUNC7 206
+param set-default PWM_MAIN_FUNC8 207
+param set-default PWM_MAIN_REV 15      # PWM signal reversal configuration
+
+# --- Flight Performance Parameters ---
+param set-default FW_MAN_P_MAX 55
+param set-default FW_MAN_R_MAX 55
+param set-default FW_R_LIM 30
+param set-default FW_WR_FF 0.2
+param set-default FW_WR_I 0.2
+param set-default FW_WR_IMAX 0.8
+param set-default FW_WR_P 1
+param set-default FW_W_RMAX 0
+
+# --- Sensor Simulation ---
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 1
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 1
+
+# --- Airspeed and Flight Mode Settings ---
+param set-default FW_AIRSPD_MAX 80
+param set-default FW_AIRSPD_MIN 30
+param set-default FW_AIRSPD_STALL 25
+param set-default FW_AIRSPD_TRIM 45
+param set-default ASPD_FALLBACK_GW 1
+
+# --- Landing and RTL Parameters ---
+param set-default FW_LND_FLALT 5
+param set-default RTL_LOITER_RAD 1000
+param set-default FW_LND_FL_PMAX 35
+param set-default FW_TKO_AIRSPD 32
+param set-default FW_TKO_PITCH_MIN 20
+param set-default FW_T_CLMB_MAX 6
+param set-default FW_WING_HEIGHT 2.5
+param set-default FW_WING_SPAN 11
+param set-default MIS_DIST_1WP 5000
+param set-default MIS_TAKEOFF_ALT 100
+param set-default MIS_TKO_LAND_REQ 0
+param set-default RTL_MIN_DIST 50
+
+# --- Safety and Breakers ---
+param set-default CBRK_USB_CHK 197848       # Disable USB check
+param set-default CBRK_SUPPLY_CHK 894281    # Disable real battery check
+param set-default CBRK_IO_SAFETY 22027      # Disable safety switch check
+
+# --- Miscellaneous Settings ---
+param set-default SDLOG_MODE 0
+param set-default SYS_HAS_MAG 1
+param set-default NAV_LOITER_RAD 1000
+param set-default EKF2_MAG_TYPE 0
+
+# --- End of Configuration ---