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Tools: autotest: add copter tailsitter and params

This commit is contained in:
IamPete1 2019-04-05 19:28:41 +01:00 committed by Andrew Tridgell
parent 950391df12
commit 1e09e79617
2 changed files with 41 additions and 0 deletions
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37
Tools/autotest/default_params/quadplane-copter_tailsitter.parm Normal file
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@ -0,0 +1,37 @@
Q_ENABLE 1
Q_FRAME_CLASS 1
Q_FRAME_TYPE 0
Q_TAILSIT_MOTMX 3
Q_A_ACCEL_P_MAX 207069.531250
Q_A_ACCEL_R_MAX 117885.953125
Q_A_ACCEL_Y_MAX 12287.541992
Q_A_ANGLE_BOOST 1.000000
Q_A_ANG_LIM_TC 1.000000
Q_A_ANG_PIT_P 18.000000
Q_A_ANG_RLL_P 3.455029
Q_A_ANG_YAW_P 2.068653
Q_A_INPUT_TC 0.200000
Q_A_RATE_FF_ENAB 1.000000
Q_A_RATE_P_MAX 0.000000
Q_A_RATE_R_MAX 0.000000
Q_A_RATE_Y_MAX 0.000000
Q_A_RAT_PIT_D 0.004973
Q_A_RAT_PIT_FF 0.000000
Q_A_RAT_PIT_FILT 10.000000
Q_A_RAT_PIT_I 0.528246
Q_A_RAT_PIT_IMAX 0.500000
Q_A_RAT_PIT_P 0.528246
Q_A_RAT_RLL_D 0.001000
Q_A_RAT_RLL_FF 0.000000
Q_A_RAT_RLL_FILT 10.000000
Q_A_RAT_RLL_I 0.541613
Q_A_RAT_RLL_IMAX 0.500000
Q_A_RAT_RLL_P 0.541613
Q_A_RAT_YAW_D 0.000000
Q_A_RAT_YAW_FF 0.000000
Q_A_RAT_YAW_FILT 1.073194
Q_A_RAT_YAW_I 0.039192
Q_A_RAT_YAW_IMAX 0.500000
Q_A_RAT_YAW_P 0.391919
Q_TAILSIT_THSCMX 1.5
Q_TRANS_DECEL 8

4
Tools/autotest/pysim/vehicleinfo.py
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@ -262,6 +262,10 @@ class VehicleInfo(object):
"waf_target": "bin/arduplane",
"default_params_filename": ["default_params/plane.parm", "default_params/plane-jet.parm"],
},
"quadplane-copter_tailsitter": {
"waf_target": "bin/arduplane",
"default_params_filename": ["default_params/quadplane.parm","default_params/quadplane-copter_tailsitter.parm"],
},
"plane": {
"waf_target": "bin/arduplane",
"default_params_filename": "default_params/plane.parm",