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autotest: added parameters for elevon plane, vtail plane and fireflyy6

This commit is contained in:
Andrew Tridgell 2016-04-22 10:27:42 +10:00
parent 46f368f17d
commit 199d4fd6c1
5 changed files with 343 additions and 0 deletions
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79
Tools/autotest/firefly.parm Normal file
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@ -0,0 +1,79 @@
ELEVON_OUTPUT 4
AHRS_EKF_TYPE 2
ARMING_RUDDER 2
ARSPD_ENABLE 1
ARSPD_FBW_MAX 35
ARSPD_FBW_MIN 13
ARSPD_USE 1
AUTOTUNE_LEVEL 8
COMPASS_OFS2_X -0.420265
COMPASS_OFS2_Y -0.726942
COMPASS_OFS2_Z 6.665476
COMPASS_OFS3_X 0
COMPASS_OFS3_Y 0
COMPASS_OFS3_Z 0
COMPASS_OFS_X -0.453570
COMPASS_OFS_Y -0.585846
COMPASS_OFS_Z 6.815743
EK2_ENABLE 1
EK2_IMU_MASK 3
EKF_ENABLE 1
FBWB_CLIMB_RATE 10
FLTMODE1 10
FLTMODE2 11
FLTMODE3 12
FLTMODE4 5
FLTMODE5 19
FLTMODE6 5
FLTMODE_CH 5
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_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_GYR_CAL 0
KFF_RDDRMIX 0.500000
LIM_PITCH_MAX 3000
LIM_PITCH_MIN -3000
LIM_ROLL_CD 6500
NAVL1_PERIOD 14
PTCH2SRV_D 0.309954
PTCH2SRV_I 0.425000
PTCH2SRV_IMAX 4000
PTCH2SRV_P 3.646518
PTCH2SRV_RLL 1
Q_ACCEL_Z 250
Q_ANGLE_MAX 4500
Q_ASSIST_SPEED 18
Q_ENABLE 1
Q_FRAME_CLASS 4
Q_LAND_FINAL_ALT 6
Q_LAND_SPEED 50
RALLY_INCL_HOME 0
RALLY_LIMIT_KM 5
RALLY_TOTAL 0
RC1_DZ 30
RC1_MAX 1886
RC1_MIN 1087
RC1_REV 1
RC1_TRIM 1500
RC2_REV 1
RC3_MAX 2000
RC3_MIN 1000
RC4_REV 1
RLL2SRV_D 0.141009
RLL2SRV_I 0.425000
RLL2SRV_IMAX 4000
RLL2SRV_P 1.600000
SCHED_LOOP_RATE 300
THR_MAX 100
TRIM_ARSPD_CM 2500
LOG_BITMASK 65534

82
Tools/autotest/plane-elevons.parm Normal file
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@ -0,0 +1,82 @@
EK2_ENABLE 1
ALT_CTRL_ALG 2
BATT_MONITOR 4
LOG_BITMASK 65535
MAG_ENABLE 1
TRIM_ARSPD_CM 2200
TRIM_PITCH_CD 0
TRIM_THROTTLE 50
LIM_PITCH_MIN -2000
LIM_PITCH_MAX 2500
LIM_ROLL_CD 6500
LAND_PITCH_CD 100
LAND_FLARE_SEC 5
ARSPD_ENABLE 1
ARSPD_USE 1
ARSPD_FBW_MAX 30
ARSPD_FBW_MIN 10
KFF_RDDRMIX 0.5
THR_MAX 100
ELEVON_OUTPUT 4
KFF_RDDRMIX 0
RC2_REV 1
RC4_REV 1
RC1_MAX 2000
RC1_MIN 1000
RC1_TRIM 1500
RC2_MAX 2000
RC2_MIN 1000
RC2_TRIM 1500
RC3_MAX 2000
RC3_MIN 1000
RC3_TRIM 1000
RC4_MAX 2000
RC4_MIN 1000
RC4_TRIM 1500
RC5_MAX 2000
RC5_MIN 1000
RC5_TRIM 1500
RC6_MAX 2000
RC6_MIN 1000
RC6_TRIM 1500
RC7_MAX 2000
RC7_MIN 1000
RC7_TRIM 1500
RC8_MAX 2000
RC8_MIN 1000
RC8_TRIM 1500
FLTMODE1 10
FLTMODE2 11
FLTMODE3 12
FLTMODE4 5
FLTMODE5 2
FLTMODE6 0
FLTMODE_CH 8
WP_LOITER_RAD 80
WP_RADIUS 50
RLL2SRV_D 0.2
RLL2SRV_I 0.3
RLL2SRV_P 2.5
RLL2SRV_RMAX 0
RLL2SRV_TCONST 0.5
PTCH2SRV_D 0.2
PTCH2SRV_I 0.3
PTCH2SRV_P 2.5
PTCH2SRV_RLL 1
NAVL1_PERIOD 15
ACRO_LOCKING 1
VTAIL_OUTPUT 0
# we need small INS_ACC offsets so INS is recognised as being calibrated
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_GYR_CAL 0

81
Tools/autotest/plane-vtail.parm Normal file
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@ -0,0 +1,81 @@
EK2_ENABLE 1
ALT_CTRL_ALG 2
BATT_MONITOR 4
LOG_BITMASK 65535
MAG_ENABLE 1
TRIM_ARSPD_CM 2200
TRIM_PITCH_CD 0
TRIM_THROTTLE 50
LIM_PITCH_MIN -2000
LIM_PITCH_MAX 2500
LIM_ROLL_CD 6500
LAND_PITCH_CD 100
LAND_FLARE_SEC 5
ARSPD_ENABLE 1
ARSPD_USE 1
ARSPD_FBW_MAX 30
ARSPD_FBW_MIN 10
KFF_RDDRMIX 0.5
THR_MAX 100
RC2_REV 1
RC4_REV 1
RC1_MAX 2000
RC1_MIN 1000
RC1_TRIM 1500
RC2_MAX 2000
RC2_MIN 1000
RC2_TRIM 1500
RC3_MAX 2000
RC3_MIN 1000
RC3_TRIM 1000
RC4_MAX 2000
RC4_MIN 1000
RC4_TRIM 1500
RC5_MAX 2000
RC5_MIN 1000
RC5_TRIM 1500
RC6_MAX 2000
RC6_MIN 1000
RC6_TRIM 1500
RC7_MAX 2000
RC7_MIN 1000
RC7_TRIM 1500
RC8_MAX 2000
RC8_MIN 1000
RC8_TRIM 1500
FLTMODE1 10
FLTMODE2 11
FLTMODE3 12
FLTMODE4 5
FLTMODE5 2
FLTMODE6 0
FLTMODE_CH 8
WP_LOITER_RAD 80
WP_RADIUS 50
RLL2SRV_D 0.2
RLL2SRV_I 0.3
RLL2SRV_P 2.5
RLL2SRV_RMAX 0
RLL2SRV_TCONST 0.5
PTCH2SRV_D 0.2
PTCH2SRV_I 0.3
PTCH2SRV_P 2.5
PTCH2SRV_RLL 1
NAVL1_PERIOD 15
ACRO_LOCKING 1
ELEVON_OUTPUT 0
VTAIL_OUTPUT 3
# we need small INS_ACC offsets so INS is recognised as being calibrated
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_GYR_CAL 0

81
Tools/autotest/plane.parm Normal file
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@ -0,0 +1,81 @@
EK2_ENABLE 1
ALT_CTRL_ALG 2
BATT_MONITOR 4
LOG_BITMASK 65535
MAG_ENABLE 1
TRIM_ARSPD_CM 2200
TRIM_PITCH_CD 0
TRIM_THROTTLE 50
LIM_PITCH_MIN -2000
LIM_PITCH_MAX 2500
LIM_ROLL_CD 6500
LAND_PITCH_CD 100
LAND_FLARE_SEC 5
ARSPD_ENABLE 1
ARSPD_USE 1
ARSPD_FBW_MAX 30
ARSPD_FBW_MIN 10
KFF_RDDRMIX 0.5
THR_MAX 100
RC2_REV 1
RC4_REV 1
RC1_MAX 2000
RC1_MIN 1000
RC1_TRIM 1500
RC2_MAX 2000
RC2_MIN 1000
RC2_TRIM 1500
RC3_MAX 2000
RC3_MIN 1000
RC3_TRIM 1000
RC4_MAX 2000
RC4_MIN 1000
RC4_TRIM 1500
RC5_MAX 2000
RC5_MIN 1000
RC5_TRIM 1500
RC6_MAX 2000
RC6_MIN 1000
RC6_TRIM 1500
RC7_MAX 2000
RC7_MIN 1000
RC7_TRIM 1500
RC8_MAX 2000
RC8_MIN 1000
RC8_TRIM 1500
FLTMODE1 10
FLTMODE2 11
FLTMODE3 12
FLTMODE4 5
FLTMODE5 2
FLTMODE6 0
FLTMODE_CH 8
WP_LOITER_RAD 80
WP_RADIUS 50
RLL2SRV_D 0.2
RLL2SRV_I 0.3
RLL2SRV_P 2.5
RLL2SRV_RMAX 0
RLL2SRV_TCONST 0.5
PTCH2SRV_D 0.2
PTCH2SRV_I 0.3
PTCH2SRV_P 2.5
PTCH2SRV_RLL 1
NAVL1_PERIOD 15
ACRO_LOCKING 1
ELEVON_OUTPUT 0
VTAIL_OUTPUT 0
# we need small INS_ACC offsets so INS is recognised as being calibrated
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_GYR_CAL 0

20
Tools/autotest/sim_vehicle.sh
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@ -268,6 +268,11 @@ case $FRAME in
MODEL="$FRAME"
DEFAULTS_PATH="$autotest/y6_params.parm"
;;
firefly*)
BUILD_TARGET="sitl"
MODEL="$FRAME"
DEFAULTS_PATH="$autotest/firefly.parm"
;;
heli*)
BUILD_TARGET="sitl-heli"
MODEL="$FRAME"
@ -308,6 +313,21 @@ case $FRAME in
MODEL="$FRAME"
DEFAULTS_PATH="$autotest/quadplane.parm"
;;
plane-elevon*)
BUILD_TARGET="sitl"
MODEL="$FRAME"
DEFAULTS_PATH="$autotest/plane-elevons.parm"
;;
plane-vtail*)
BUILD_TARGET="sitl"
MODEL="$FRAME"
DEFAULTS_PATH="$autotest/plane-vtail.parm"
;;
plane*)
BUILD_TARGET="sitl"
MODEL="$FRAME"
DEFAULTS_PATH="$autotest/plane.parm"
;;
*-heli)
BUILD_TARGET="sitl-heli"
MODEL="$FRAME"