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Tools: convert ALT_HOLD_RTL and ALT_HOLD_FBWCM

This commit is contained in:
Andrew Tridgell 2024-01-18 16:58:09 +11:00
parent 8151647e04
commit 286f6887bd
11 changed files with 15 additions and 15 deletions
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2
Tools/Frame_params/Parrot_Disco/Parrot_Disco.param
View File

@ -1,4 +1,4 @@
ALT_HOLD_RTL 6000
RTL_ALTITUDE 60.00
ARMING_RUDDER 2
AIRSPEED_MAX 17
AIRSPEED_MIN 12

2
Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param
View File

@ -12,7 +12,7 @@ TRIM_THROTTLE 52
LIM_PITCH_MAX 2200
LIM_ROLL_CD 3500
NAVL1_PERIOD 24
ALT_HOLD_RTL 9000
RTL_ALTITUDE 90.00
FBWB_CLIMB_RATE 5
WP_LOITER_RAD 150
WP_RADIUS 150

2
Tools/Frame_params/QuadPlanes/Mugin_EV350.param
View File

@ -2,7 +2,7 @@
# https://www.muginuav.com/product/mugin-ev350-carbon-fiber-full-electric-vtol-uav-platform/
ALT_HOLD_RTL 8000
RTL_ALTITUDE 80.00
LIM_PITCH_MAX 2000
LIM_PITCH_MIN -2000
LIM_ROLL_CD 4000

2
Tools/Frame_params/QuadPlanes/XPlane-Alia.parm
View File

@ -16,7 +16,7 @@ GROUND_STEER_ALT,10
AIRSPEED_CRUISE,52.00
SCALING_SPEED,60
TRIM_PITCH_DEG,4
ALT_HOLD_RTL,25000
RTL_ALTITUDE,250.00
FLAP_1_PERCNT,50
FLAP_1_SPEED,30
RTL_AUTOLAND,2

8
Tools/autotest/arduplane.py
View File

@ -2274,7 +2274,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
self.wait_ready_to_arm()
self.set_parameters({
"FLIGHT_OPTIONS": 0,
"ALT_HOLD_RTL": 8000,
"RTL_ALTITUDE": 80,
"RTL_AUTOLAND": 1,
})
takeoff_alt = 10
@ -2282,7 +2282,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
self.change_mode("CRUISE")
self.wait_distance_to_home(500, 1000, timeout=60)
self.change_mode("RTL")
expected_alt = self.get_parameter("ALT_HOLD_RTL") / 100.0
expected_alt = self.get_parameter("RTL_ALTITUDE")
home = self.home_position_as_mav_location()
distance = self.get_distance(home, self.mav.location())
@ -2306,7 +2306,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
self.wait_ready_to_arm()
self.set_parameters({
"FLIGHT_OPTIONS": 16,
"ALT_HOLD_RTL": 10000,
"RTL_ALTITUDE": 100,
})
self.takeoff(alt=takeoff_alt)
self.change_mode("CRUISE")
@ -2339,7 +2339,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
self.wait_distance_to_home(1000, 1500, timeout=60)
post_cruise_alt = self.get_altitude(relative=True)
self.change_mode('RTL')
expected_alt = self.get_parameter("ALT_HOLD_RTL")/100.0
expected_alt = self.get_parameter("RTL_ALTITUDE")
if expected_alt == -1:
expected_alt = self.get_altitude(relative=True)

2
Tools/autotest/default_params/plane-jet.parm
View File

@ -1,4 +1,4 @@
ALT_HOLD_RTL 20000.0000
RTL_ALTITUDE 200.00
AIRSPEED_MAX 80.0000
AIRSPEED_MIN 25.0000
FBWB_CLIMB_RATE 5.0000

2
Tools/autotest/default_params/quadplane-cl84.parm
View File

@ -57,7 +57,7 @@ SERVO12_MIN 1000
SERVO12_MAX 2000
SERVO11_TRIM 1500
RTL_RADIUS 80
ALT_HOLD_RTL 2000
RTL_ALTITUDE 20.00
Q_ENABLE 1
Q_FRAME_CLASS 7
Q_ANGLE_MAX 4500

2
Tools/autotest/default_params/quadplane-tilttri.parm
View File

@ -76,6 +76,6 @@ SERVO12_MIN 1000
SERVO12_MAX 2000
RTL_RADIUS 80
Q_RTL_MODE 1
ALT_HOLD_RTL 2000
RTL_ALTITUDE 20.00
PTCH_RATE_FF 1.407055
RLL_RATE_FF 0.552741

2
Tools/autotest/default_params/quadplane-tilttrivec.parm
View File

@ -79,7 +79,7 @@ SERVO12_MIN 1000
SERVO12_MAX 2000
RTL_RADIUS 80
Q_RTL_MODE 1
ALT_HOLD_RTL 2000
RTL_ALTITUDE 20.00
Q_TILT_TYPE 2
Q_TILT_YAW_ANGLE 10
PTCH_RATE_FF 1.407055

2
Tools/autotest/default_params/quadplane.parm
View File

@ -74,6 +74,6 @@ Q_A_RAT_RLL_P 0.15
Q_A_RAT_PIT_P 0.15
Q_A_RAT_RLL_D 0.002
Q_A_RAT_PIT_D 0.002
ALT_HOLD_RTL 2000
RTL_ALTITUDE 20.00
PTCH_RATE_FF 1.407055
RLL_RATE_FF 0.552741

4
Tools/autotest/default_params/vee-gull 005.param
View File

@ -15,8 +15,8 @@ AHRS_TRIM_Y,0
AHRS_TRIM_Z,0
AHRS_WIND_MAX,0
AHRS_YAW_P,0.2
ALT_HOLD_FBWCM,0
ALT_HOLD_RTL,10000
ALT_CRUISE_MIN,0.00
RTL_ALTITUDE,100.00
ALT_OFFSET,0
ARMING_ACCTHRESH,0.75
ARMING_CHECK,0