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Tools: change TRIM_ARSPD_CM to AIRSPEED_CRUISE

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This commit is contained in:
Andrew Tridgell 2024-01-18 13:34:22 +11:00
parent 94edcc4654
commit 4fea71246d
25 changed files with 26 additions and 26 deletions
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2
Tools/Frame_params/Parrot_Disco/Parrot_Disco.param
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@ -56,7 +56,7 @@ THR_FS_VALUE 950
THR_MAX 100 THR_MAX 100
THR_MIN 0 THR_MIN 0
TKOFF_THR_MINACC 4 TKOFF_THR_MINACC 4
TRIM_ARSPD_CM 1400 AIRSPEED_CRUISE 14.00
TRIM_THROTTLE 35 TRIM_THROTTLE 35
WP_LOITER_RAD 30 WP_LOITER_RAD 30
WP_RADIUS 90 WP_RADIUS 90

2
Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param
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@ -3,7 +3,7 @@
# airspeed # airspeed
ARSPD_FBW_MAX 35 ARSPD_FBW_MAX 35
ARSPD_FBW_MIN 18 ARSPD_FBW_MIN 18
TRIM_ARSPD_CM 2300 AIRSPEED_CRUISE 23.00
TRIM_THROTTLE 60 TRIM_THROTTLE 60
# notch filter # notch filter

2
Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm
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@ -9,7 +9,7 @@
# setup airspeed range # setup airspeed range
ARSPD_FBW_MAX 35 ARSPD_FBW_MAX 35
ARSPD_FBW_MIN 22 ARSPD_FBW_MIN 22
TRIM_ARSPD_CM 2700 AIRSPEED_CRUISE 27.00
# fixed wing limits # fixed wing limits
LIM_PITCH_MAX 1500 LIM_PITCH_MAX 1500

2
Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param
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@ -5,7 +5,7 @@
# airspeed # airspeed
ARSPD_FBW_MAX 35 ARSPD_FBW_MAX 35
ARSPD_FBW_MIN 18 ARSPD_FBW_MIN 18
TRIM_ARSPD_CM 2300 AIRSPEED_CRUISE 23.00
TRIM_THROTTLE 60 TRIM_THROTTLE 60
# notch filter # notch filter

2
Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param
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@ -5,7 +5,7 @@
# airspeed # airspeed
ARSPD_FBW_MAX 29 ARSPD_FBW_MAX 29
ARSPD_FBW_MIN 16 ARSPD_FBW_MIN 16
TRIM_ARSPD_CM 2000 AIRSPEED_CRUISE 20.00
TRIM_THROTTLE 52 TRIM_THROTTLE 52
# fixed wing limits # fixed wing limits

2
Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
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@ -21,7 +21,7 @@ INS_HNTCH_MODE 1
INS_HNTCH_REF 0.26 INS_HNTCH_REF 0.26
# airspeed # airspeed
TRIM_ARSPD_CM 2300 AIRSPEED_CRUISE 23.00
ARSPD_FBW_MAX 30 ARSPD_FBW_MAX 30
ARSPD_FBW_MIN 15 ARSPD_FBW_MIN 15

2
Tools/Frame_params/QuadPlanes/Mugin_EV350.param
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@ -24,7 +24,7 @@ INS_HNTCH_MODE 1
INS_HNTCH_REF 0.245000 INS_HNTCH_REF 0.245000
# airspeed # airspeed
TRIM_ARSPD_CM 2300 AIRSPEED_CRUISE 23.00
ARSPD_FBW_MAX 28 ARSPD_FBW_MAX 28
ARSPD_FBW_MIN 18 ARSPD_FBW_MIN 18

2
Tools/Frame_params/QuadPlanes/SparkleTech-EagleHero.param
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@ -5,7 +5,7 @@
# airspeed # airspeed
ARSPD_FBW_MAX 31 ARSPD_FBW_MAX 31
ARSPD_FBW_MIN 22 ARSPD_FBW_MIN 22
TRIM_ARSPD_CM 2400 AIRSPEED_CRUISE 24.00
SCALING_SPEED 20 SCALING_SPEED 20
TRIM_THROTTLE 55 TRIM_THROTTLE 55

2
Tools/Frame_params/QuadPlanes/XPlane-Alia.parm
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@ -13,7 +13,7 @@ THR_MIN,-25
THR_SLEWRATE,30 THR_SLEWRATE,30
TRIM_THROTTLE,60 TRIM_THROTTLE,60
GROUND_STEER_ALT,10 GROUND_STEER_ALT,10
TRIM_ARSPD_CM,5200 AIRSPEED_CRUISE,52.00
SCALING_SPEED,60 SCALING_SPEED,60
TRIM_PITCH_DEG,4 TRIM_PITCH_DEG,4
ALT_HOLD_RTL,25000 ALT_HOLD_RTL,25000

2
Tools/Frame_params/SkyWalkerX8.param
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@ -105,7 +105,7 @@ TKOFF_THR_MAX,0
TKOFF_THR_MINACC,12 TKOFF_THR_MINACC,12
TKOFF_THR_MINSPD,0 TKOFF_THR_MINSPD,0
TKOFF_THR_SLEW,100 TKOFF_THR_SLEW,100
TRIM_ARSPD_CM,1600 AIRSPEED_CRUISE,16.00
TRIM_AUTO,0 TRIM_AUTO,0
PITCH_TRIM,0 PITCH_TRIM,0
TRIM_RC_AT_START,0 TRIM_RC_AT_START,0

2
Tools/Frame_params/SkyWalkerX8_ReverseThrust.param
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@ -105,7 +105,7 @@ TKOFF_THR_MAX,0
TKOFF_THR_MINACC,12 TKOFF_THR_MINACC,12
TKOFF_THR_MINSPD,0 TKOFF_THR_MINSPD,0
TKOFF_THR_SLEW,100 TKOFF_THR_SLEW,100
TRIM_ARSPD_CM,1600 AIRSPEED_CRUISE,16.00
TRIM_AUTO,0 TRIM_AUTO,0
PITCH_TRIM,0 PITCH_TRIM,0
TRIM_RC_AT_START,0 TRIM_RC_AT_START,0

4
Tools/autotest/arduplane.py
View File

@ -844,7 +844,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
# - DO_CHANGE_AIRSPEED is a permanent vehicle change! # - DO_CHANGE_AIRSPEED is a permanent vehicle change!
self.context_push() self.context_push()
self.set_parameters({ self.set_parameters({
"TRIM_ARSPD_CM": self.get_parameter("TRIM_ARSPD_CM"), "AIRSPEED_CRUISE": self.get_parameter("AIRSPEED_CRUISE"),
"MIN_GNDSPD_CM": self.get_parameter("MIN_GNDSPD_CM"), "MIN_GNDSPD_CM": self.get_parameter("MIN_GNDSPD_CM"),
"TRIM_THROTTLE": self.get_parameter("TRIM_THROTTLE"), "TRIM_THROTTLE": self.get_parameter("TRIM_THROTTLE"),
}) })
@ -886,7 +886,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
self.change_mode('AUTO') self.change_mode('AUTO')
checks = [ checks = [
(1, self.get_parameter("TRIM_ARSPD_CM") * 0.01), (1, self.get_parameter("AIRSPEED_CRUISE")),
(3, 10), (3, 10),
(5, 20), (5, 20),
(7, 15), (7, 15),

2
Tools/autotest/default_params/firefly.parm
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@ -71,7 +71,7 @@ RLL_RATE_IMAX 0.888889
RLL_RATE_P 0.141009 RLL_RATE_P 0.141009
SCHED_LOOP_RATE 300 SCHED_LOOP_RATE 300
THR_MAX 100 THR_MAX 100
TRIM_ARSPD_CM 2500 AIRSPEED_CRUISE 25.00
LOG_BITMASK 65534 LOG_BITMASK 65534
# map channel 13 out for tilt # map channel 13 out for tilt
Q_ENABLE 1 Q_ENABLE 1

2
Tools/autotest/default_params/plane-jet.parm
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@ -26,7 +26,7 @@ TECS_SINK_MIN 10.0000
THR_SLEWRATE 30.0000 THR_SLEWRATE 30.0000
TKOFF_ROTATE_SPD 20.0000 TKOFF_ROTATE_SPD 20.0000
TKOFF_THR_MAX 100.0000 TKOFF_THR_MAX 100.0000
TRIM_ARSPD_CM 4000.0000 AIRSPEED_CRUISE 40.00
TRIM_THROTTLE 36.0000 TRIM_THROTTLE 36.0000
WP_LOITER_RAD 180.0000 WP_LOITER_RAD 180.0000
WP_RADIUS 140.0000 WP_RADIUS 140.0000

2
Tools/autotest/default_params/plane-jsbsim.parm
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@ -1,7 +1,7 @@
EK2_ENABLE 1 EK2_ENABLE 1
BATT_MONITOR 4 BATT_MONITOR 4
LOG_BITMASK 65535 LOG_BITMASK 65535
TRIM_ARSPD_CM 2200 AIRSPEED_CRUISE 22.00
PITCH_TRIM 0 PITCH_TRIM 0
TRIM_THROTTLE 50 TRIM_THROTTLE 50
LIM_PITCH_MIN -2000 LIM_PITCH_MIN -2000

2
Tools/autotest/default_params/plane-soaring.parm
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@ -28,7 +28,7 @@ SOAR_VSPEED 0.700000
TECS_SPDWEIGHT 2.000000 TECS_SPDWEIGHT 2.000000
TRIM_ARSPD_CM 900.000000 AIRSPEED_CRUISE 9.00
NAVL1_LIM_BANK 60.000000 NAVL1_LIM_BANK 60.000000
NAVL1_PERIOD 10.000 NAVL1_PERIOD 10.000

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

@ -1,5 +1,5 @@
BATT_MONITOR 4 BATT_MONITOR 4
TRIM_ARSPD_CM 2200 AIRSPEED_CRUISE 22.00
TRIM_THROTTLE 50 TRIM_THROTTLE 50
LIM_PITCH_MIN -2000 LIM_PITCH_MIN -2000
LIM_PITCH_MAX 2500 LIM_PITCH_MAX 2500

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

@ -51,7 +51,7 @@ RLL_RATE_I 0.212500
RLL_RATE_IMAX 0.888889 RLL_RATE_IMAX 0.888889
RLL_RATE_P 0.141009 RLL_RATE_P 0.141009
THR_MAX 100 THR_MAX 100
TRIM_ARSPD_CM 2500 AIRSPEED_CRUISE 25.00
SERVO12_FUNCTION 41 SERVO12_FUNCTION 41
SERVO12_MIN 1000 SERVO12_MIN 1000
SERVO12_MAX 2000 SERVO12_MAX 2000

2
Tools/autotest/default_params/quadplane-tilttri.parm
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@ -67,7 +67,7 @@ RLL_RATE_IMAX 0.888889
RLL_RATE_P 0.141009 RLL_RATE_P 0.141009
SCHED_LOOP_RATE 300 SCHED_LOOP_RATE 300
THR_MAX 100 THR_MAX 100
TRIM_ARSPD_CM 2500 AIRSPEED_CRUISE 25.00
LOG_BITMASK 65534 LOG_BITMASK 65534
Q_TILT_MASK 3 Q_TILT_MASK 3
Q_VFWD_GAIN 0.1 Q_VFWD_GAIN 0.1

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

@ -67,7 +67,7 @@ RLL_RATE_IMAX 0.888889
RLL_RATE_P 0.141009 RLL_RATE_P 0.141009
SCHED_LOOP_RATE 300 SCHED_LOOP_RATE 300
THR_MAX 100 THR_MAX 100
TRIM_ARSPD_CM 2500 AIRSPEED_CRUISE 25.00
LOG_BITMASK 65534 LOG_BITMASK 65534
Q_TILT_MASK 3 Q_TILT_MASK 3
Q_VFWD_GAIN 0.1 Q_VFWD_GAIN 0.1

2
Tools/autotest/default_params/quadplane-tri.parm
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@ -67,7 +67,7 @@ RLL_RATE_IMAX 0.888889
RLL_RATE_P 0.141009 RLL_RATE_P 0.141009
SCHED_LOOP_RATE 300 SCHED_LOOP_RATE 300
THR_MAX 100 THR_MAX 100
TRIM_ARSPD_CM 2500 AIRSPEED_CRUISE 25.00
LOG_BITMASK 65534 LOG_BITMASK 65534
PTCH_RATE_FF 1.407055 PTCH_RATE_FF 1.407055
RLL_RATE_FF 0.552741 RLL_RATE_FF 0.552741

2
Tools/autotest/default_params/quadplane.parm
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@ -63,7 +63,7 @@ RLL_RATE_IMAX 0.888889
RLL_RATE_P 0.141009 RLL_RATE_P 0.141009
SCHED_LOOP_RATE 300 SCHED_LOOP_RATE 300
THR_MAX 100 THR_MAX 100
TRIM_ARSPD_CM 2500 AIRSPEED_CRUISE 25.00
LOG_BITMASK 65534 LOG_BITMASK 65534
Q_M_THST_EXPO 0.65 Q_M_THST_EXPO 0.65
Q_M_PWM_MIN 1000 Q_M_PWM_MIN 1000

2
Tools/autotest/default_params/vee-gull 005.param
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@ -801,7 +801,7 @@ TKOFF_THR_MAX,0
TKOFF_THR_MINACC,0 TKOFF_THR_MINACC,0
TKOFF_THR_MINSPD,0 TKOFF_THR_MINSPD,0
TKOFF_THR_SLEW,0 TKOFF_THR_SLEW,0
TRIM_ARSPD_CM,1200 AIRSPEED_CRUISE,12.00
TRIM_AUTO,0 TRIM_AUTO,0
PITCH_TRIM,0 PITCH_TRIM,0
TRIM_RC_AT_START,0 TRIM_RC_AT_START,0

2
Tools/autotest/models/plane-3d.parm
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@ -28,7 +28,7 @@ ACRO_LOCKING 2
AHRS_EKF_TYPE 10 AHRS_EKF_TYPE 10
TRIM_THROTTLE 30 TRIM_THROTTLE 30
NAVL1_PERIOD 7 NAVL1_PERIOD 7
TRIM_ARSPD_CM 2400 AIRSPEED_CRUISE 24.00
ARSPD_FBW_MAX 30 ARSPD_FBW_MAX 30
LIM_ROLL_CD 7000 LIM_ROLL_CD 7000
# setup for scripting # setup for scripting

2
Tools/autotest/models/plane.parm
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@ -1,7 +1,7 @@
EK2_ENABLE 1 EK2_ENABLE 1
BATT_MONITOR 4 BATT_MONITOR 4
LOG_BITMASK 65535 LOG_BITMASK 65535
TRIM_ARSPD_CM 2200 AIRSPEED_CRUISE 22.00
PITCH_TRIM 0 PITCH_TRIM 0
TRIM_THROTTLE 50 TRIM_THROTTLE 50
LIM_PITCH_MIN -2000 LIM_PITCH_MIN -2000