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Tools: use parm inheritance for gazebo iris model

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This commit is contained in:
Pierre Kancir 2017-05-24 10:45:19 +02:00 committed by Peter Barker
parent d1fb2e7c53
commit 971c8d5948
2 changed files with 8 additions and 61 deletions
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66
Tools/autotest/default_params/gazebo-iris.parm
View File

@ -1,67 +1,13 @@
# Iris is X frame
FRAME_CLASS 1
FRAME_TYPE 1
# IRLOCK FEATURE
CH8_OPT 39
PLND_ENABLED 1
PLND_TYPE 3
POS_XY_P 2
VEL_XY_P 0.6
# Iris is X frame
FRAME_CLASS 1
FRAME_TYPE 1
COMPASS_OFS_X 5
COMPASS_OFS_Y 13
COMPASS_OFS_Z -18
COMPASS_OFS2_X 5
COMPASS_OFS2_Y 13
COMPASS_OFS2_Z -18
# 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_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
RC1_MAX 2000.000000
RC1_MIN 1000.000000
RC1_TRIM 1500.000000
RC2_MAX 2000.000000
RC2_MIN 1000.000000
RC2_TRIM 1500.000000
RC3_MAX 2000.000000
RC3_MIN 1000.000000
RC3_TRIM 1500.000000
RC4_MAX 2000.000000
RC4_MIN 1000.000000
RC4_TRIM 1500.000000
RC5_MAX 2000.000000
RC5_MIN 1000.000000
RC5_TRIM 1500.000000
RC6_MAX 2000.000000
RC6_MIN 1000.000000
RC6_TRIM 1500.000000
RC7_MAX 2000.000000
RC7_MIN 1000.000000
RC7_TRIM 1500.000000
RC8_MAX 2000.000000
RC8_MIN 1000.000000
RC8_TRIM 1500.000000
MOT_THST_EXPO 0.5
MOT_THST_HOVER 0.36
CH8_OPT 39
# SONAR FOR IRLOCK
SIM_SONAR_SCALE 10
RNGFND_TYPE 1
RNGFND_SCALING 10

3
Tools/autotest/sim_vehicle.py
View File

@ -343,7 +343,8 @@ _options = {
},
"gazebo-iris": {
"waf_target": "bin/arducopter",
"default_params_filename": "default_params/gazebo-iris.parm",
"default_params_filename": ["default_params/copter.parm",
"default_params/gazebo-iris.parm"],
},
# HELICOPTER
"heli": {