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Tools: added StratoBlimp to autotest

This commit is contained in:
Andrew Tridgell 2024-04-26 18:48:29 +10:00
parent 4bb5a9ac52
commit 0bccd71201
2 changed files with 50 additions and 0 deletions
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46
Tools/autotest/default_params/stratoblimp.parm Normal file
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@ -0,0 +1,46 @@
# parameters for default StratoBlimp
SERVO1_FUNCTION 19
SERVO2_FUNCTION 19
SERVO3_FUNCTION 73
SERVO3_MIN 1000
SERVO3_MAX 2000
SERVO4_FUNCTION 74
SERVO4_MIN 1000
SERVO4_MAX 2000
# no need for high loop rate
SIM_RATE_HZ 100
# avoid IMU cal
INS_ACCOFFS_X 0.001
INS_ACCOFFS_Y 0.001
INS_ACCOFFS_Z 0.001
INS_ACCSCAL_X 1.001
INS_ACCSCAL_Y 1.001
INS_ACCSCAL_Z 1.001
INS_ACC2OFFS_X 0.001
INS_ACC2OFFS_Y 0.001
INS_ACC2OFFS_Z 0.001
INS_ACC2SCAL_X 1.001
INS_ACC2SCAL_Y 1.001
INS_ACC2SCAL_Z 1.001
INS_ACC3OFFS_X 0.000
INS_ACC3OFFS_Y 0.000
INS_ACC3OFFS_Z 0.000
INS_ACC3SCAL_X 1.000
INS_ACC3SCAL_Y 1.000
INS_ACC3SCAL_Z 1.000
# crude rudder control
RUDD_DT_GAIN 100
NAVL1_PERIOD 35
RLL_RATE_I 0
RLL_RATE_D 0
RLL_RATE_FF 0.03
ROLL_LIMIT_DEG 5
PTCH_LIMIT_MAX_DEG 5
PTCH_LIMIT_MIN_DEG -5

4
Tools/autotest/pysim/vehicleinfo.py
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@ -368,6 +368,10 @@ class VehicleInfo(object):
"extra_mavlink_cmds": "module load sitl_calibration;", "extra_mavlink_cmds": "module load sitl_calibration;",
"external": True, # lies! OTOH, hard to take off with this "external": True, # lies! OTOH, hard to take off with this
}, },
"stratoblimp": {
"waf_target": "bin/arduplane",
"default_params_filename": "default_params/stratoblimp.parm",
},
}, },
}, },
"Rover": { "Rover": {