From 98145f7a3f9927b04a0bb10a16425485461af1d9 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 9 Nov 2022 08:01:54 +1100 Subject: [PATCH] Tools: moved plane-3d.parm to models directory --- .../{default_params => models}/plane-3d.parm | 7 ++++++ .../{default_params => models}/plane.parm | 0 Tools/autotest/pysim/vehicleinfo.py | 24 +++++++++---------- Tools/autotest/sim_vehicle.py | 2 +- 4 files changed, 20 insertions(+), 13 deletions(-) rename Tools/autotest/{default_params => models}/plane-3d.parm (82%) rename Tools/autotest/{default_params => models}/plane.parm (100%) diff --git a/Tools/autotest/default_params/plane-3d.parm b/Tools/autotest/models/plane-3d.parm similarity index 82% rename from Tools/autotest/default_params/plane-3d.parm rename to Tools/autotest/models/plane-3d.parm index ba04df0d43..5d642a54cc 100644 --- a/Tools/autotest/default_params/plane-3d.parm +++ b/Tools/autotest/models/plane-3d.parm @@ -22,8 +22,15 @@ YAW_RATE_FF 0.55 YAW_RATE_FLTT 3.18 YAW_RATE_FLTD 10.0 YAW_RATE_SMAX 460.0 +ACRO_ROLL_RATE 360 ACRO_YAW_RATE 60 ACRO_LOCKING 2 AHRS_EKF_TYPE 10 TRIM_THROTTLE 30 NAVL1_PERIOD 7 +TRIM_ARSPD_CM 2400 +ARSPD_FBW_MAX 30 +# setup for scripting +SCR_ENABLE 1 +SCR_HEAP_SIZE 300000 +SCR_VM_I_COUNT 100000 diff --git a/Tools/autotest/default_params/plane.parm b/Tools/autotest/models/plane.parm similarity index 100% rename from Tools/autotest/default_params/plane.parm rename to Tools/autotest/models/plane.parm diff --git a/Tools/autotest/pysim/vehicleinfo.py b/Tools/autotest/pysim/vehicleinfo.py index 61fa25ff29..fbcb2b54df 100644 --- a/Tools/autotest/pysim/vehicleinfo.py +++ b/Tools/autotest/pysim/vehicleinfo.py @@ -232,7 +232,7 @@ class VehicleInfo(object): }, "quadplane-tilthvec": { "waf_target": "bin/arduplane", - "default_params_filename": ["default_params/plane.parm", "default_params/quadplane-tilthvec.parm"], + "default_params_filename": ["models/plane.parm", "default_params/quadplane-tilthvec.parm"], }, "quadplane-tri": { "waf_target": "bin/arduplane", @@ -256,11 +256,11 @@ class VehicleInfo(object): }, "plane-elevon": { "waf_target": "bin/arduplane", - "default_params_filename": ["default_params/plane.parm", "default_params/plane-elevons.parm"], + "default_params_filename": ["models/plane.parm", "default_params/plane-elevons.parm"], }, "plane-vtail": { "waf_target": "bin/arduplane", - "default_params_filename": ["default_params/plane.parm", "default_params/plane-vtail.parm"], + "default_params_filename": ["models/plane.parm", "default_params/plane-vtail.parm"], }, "plane-tailsitter": { "waf_target": "bin/arduplane", @@ -268,15 +268,15 @@ class VehicleInfo(object): }, "plane-jet": { "waf_target": "bin/arduplane", - "default_params_filename": ["default_params/plane.parm", "default_params/plane-jet.parm"], + "default_params_filename": ["models/plane.parm", "default_params/plane-jet.parm"], }, "plane-ice": { "waf_target": "bin/arduplane", - "default_params_filename": ["default_params/plane.parm", "default_params/plane-ice.parm"], + "default_params_filename": ["models/plane.parm", "default_params/plane-ice.parm"], }, "plane-3d": { "waf_target": "bin/arduplane", - "default_params_filename": ["default_params/plane.parm", "default_params/plane-3d.parm"], + "default_params_filename": [], # defaults are loaded in SIM_Plane.cpp }, "quadplane-copter_tailsitter": { "waf_target": "bin/arduplane", @@ -284,15 +284,15 @@ class VehicleInfo(object): }, "plane": { "waf_target": "bin/arduplane", - "default_params_filename": "default_params/plane.parm", + "default_params_filename": "models/plane.parm", }, "plane-dspoilers": { "waf_target": "bin/arduplane", - "default_params_filename": ["default_params/plane.parm", "default_params/plane-dspoilers.parm"] + "default_params_filename": ["models/plane.parm", "default_params/plane-dspoilers.parm"] }, "plane-soaring": { "waf_target": "bin/arduplane", - "default_params_filename": ["default_params/plane.parm", "default_params/plane-soaring.parm"] + "default_params_filename": ["models/plane.parm", "default_params/plane-soaring.parm"] }, "gazebo-zephyr": { "waf_target": "bin/arduplane", @@ -301,12 +301,12 @@ class VehicleInfo(object): }, "last_letter": { "waf_target": "bin/arduplane", - "default_params_filename": "default_params/plane.parm", + "default_params_filename": "models/plane.parm", "external": True, }, "CRRCSim": { "waf_target": "bin/arduplane", - "default_params_filename": "default_params/plane.parm", + "default_params_filename": "models/plane.parm", "external": True, }, "jsbsim": { @@ -316,7 +316,7 @@ class VehicleInfo(object): }, "scrimmage-plane" : { "waf_target": "bin/arduplane", - "default_params_filename": "default_params/plane.parm", + "default_params_filename": "models/plane.parm", "external": True, }, "calibration": { diff --git a/Tools/autotest/sim_vehicle.py b/Tools/autotest/sim_vehicle.py index b0cfc0e63a..b0f2fecb3a 100755 --- a/Tools/autotest/sim_vehicle.py +++ b/Tools/autotest/sim_vehicle.py @@ -743,7 +743,7 @@ def start_vehicle(binary, opts, stuff, spawns=None): path += "," + os.path.join(autotest_dir, "default_params/msposd.parm") subprocess.Popen([os.path.join(root_dir, "libraries/AP_MSP/Tools/msposd.py")]) - if path is not None: + if path is not None and len(path) > 0: cmd.extend(["--defaults", path]) if cmd_opts.start_time is not None: