mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-03-05 13:14:03 -04:00
Tools: Add Freestyle model for SITL
This commit is contained in:
Michelle Rossouw
Peter Barker
parent
8e6a7f8ead
commit
9d470d4446
62
Tools/autotest/models/freestyle.json
Normal file
62
Tools/autotest/models/freestyle.json
Normal file
@ -0,0 +1,62 @@
|
||||
# 5 inch FPV Freestyle/Racing model
|
||||
|
||||
{
|
||||
# total vehicle mass in kg
|
||||
"mass" : 0.8,
|
||||
|
||||
# vehicle diameter
|
||||
"diagonal_size" : 0.25,
|
||||
|
||||
# the ref parameters should be taken from a test
|
||||
# with the copter flying at constant speed in zero wind. This is used
|
||||
# to estimate the drag coefficient
|
||||
"refSpd" : 20.0, # m/s
|
||||
"refAngle" : 45.0, # degrees
|
||||
"refVoltage" : 23.2, # volts
|
||||
"refCurrent" : 5, # Amps
|
||||
"refAlt" : 607, # meters AMSL
|
||||
"refTempC" : 25, # degrees C
|
||||
"refBatRes" : 0.0226, # BAT.Res from log
|
||||
|
||||
# full battery voltage
|
||||
"maxVoltage" : 25.2,
|
||||
|
||||
# full battery capacity, Ah
|
||||
# 0 means unlimited
|
||||
"battCapacityAh" : 0,
|
||||
|
||||
# MOT_THST_EXPO
|
||||
"propExpo" : 0.7,
|
||||
|
||||
# approximate maximum yaw rate in deg/sec
|
||||
"refRotRate" : 700,
|
||||
|
||||
# hover throttle from 0 to 1
|
||||
"hoverThrOut" : 0.125,
|
||||
|
||||
# MOT_PWM_MIN
|
||||
"pwmMin" : 1000,
|
||||
|
||||
# MOT_PWM_MAX
|
||||
"pwmMax" : 2000,
|
||||
|
||||
# MOT_SPIN_MIN
|
||||
"spin_min" : 0.01,
|
||||
|
||||
# MOT_SPIN_MAX
|
||||
"spin_max" : 0.95,
|
||||
|
||||
# maximum motor slew rate, or zero to disable
|
||||
"slew_max" : 0,
|
||||
|
||||
# total effective disc area in sq m for 4 x 5 inch diameter rotors
|
||||
"disc_area" : 0.204,
|
||||
|
||||
# momentum drag coefficient
|
||||
# ratio of momentum drag relative to a ducted rotor of the same effective disc area
|
||||
"mdrag_coef" : 0.10,
|
||||
|
||||
# number of motors
|
||||
"num_motors" : 4
|
||||
}
|
||||
|
||||
91
Tools/autotest/models/freestyle.param
Normal file
91
Tools/autotest/models/freestyle.param
Normal file
@ -0,0 +1,91 @@
|
||||
ACRO_OPTIONS 1.000000
|
||||
ACRO_RP_EXPO 0.400000
|
||||
ACRO_RP_RATE 533.000000
|
||||
ACRO_THR_MID 0.300000
|
||||
ACRO_TRAINER 0.000000
|
||||
ACRO_Y_EXPO 0.400000
|
||||
ACRO_Y_RATE 533.000000
|
||||
ANGLE_MAX 7000.000000
|
||||
ARMING_RUDDER 0.000000
|
||||
ATC_ACCEL_P_MAX 160000.000000
|
||||
ATC_ACCEL_R_MAX 160000.000000
|
||||
ATC_ACCEL_Y_MAX 120000.000000
|
||||
ATC_ANG_PIT_P 15.000000
|
||||
ATC_ANG_RLL_P 15.000000
|
||||
ATC_ANG_YAW_P 10.000000
|
||||
ATC_INPUT_TC 0.040000
|
||||
ATC_RAT_PIT_P 0.040000
|
||||
ATC_RAT_PIT_I 0.040000
|
||||
ATC_RAT_PIT_D 0.001200
|
||||
ATC_RAT_PIT_FLTD 60.000000
|
||||
ATC_RAT_PIT_FLTE 40.000000
|
||||
ATC_RAT_PIT_FLTT 60.000000
|
||||
ATC_RAT_PIT_SMAX 50.000000
|
||||
ATC_RAT_RLL_P 0.048000
|
||||
ATC_RAT_RLL_I 0.048000
|
||||
ATC_RAT_RLL_D 0.000800
|
||||
ATC_RAT_RLL_FLTD 60.000000
|
||||
ATC_RAT_RLL_FLTT 60.000000
|
||||
ATC_RAT_RLL_SMAX 50.000000
|
||||
ATC_RAT_YAW_P 0.500000
|
||||
ATC_RAT_YAW_I 0.050000
|
||||
ATC_RAT_YAW_D 0.010000
|
||||
ATC_RAT_YAW_FLTD 60.000000
|
||||
ATC_RAT_YAW_FLTE 2.000000
|
||||
ATC_RAT_YAW_FLTT 60.000000
|
||||
ATC_RAT_YAW_SMAX 50.000000
|
||||
ATC_SLEW_YAW 24000.000000
|
||||
ATC_THR_MIX_MAN 4.000000
|
||||
AUTO_OPTIONS 3.000000
|
||||
BATT_CAPACITY 1300.000000
|
||||
BATT_OPTIONS 64.000000
|
||||
CIRCLE_RATE 200.000000
|
||||
DISARM_DELAY 0.000000
|
||||
EK3_GLITCH_RAD 0.000000
|
||||
FLTMODE_CH 0.000000
|
||||
FRAME_CLASS 1.000000
|
||||
GCS_PID_MASK 7.000000
|
||||
INS_ACCEL_FILTER 15.000000
|
||||
INS_FAST_SAMPLE 3.000000
|
||||
INS_GYRO_FILTER 120.000000
|
||||
INS_HNTC2_ATT 60.000000
|
||||
INS_HNTC2_BW 10.000000
|
||||
INS_HNTC2_ENABLE 1.000000
|
||||
INS_HNTC2_FREQ 90.000000
|
||||
INS_HNTC2_HMNCS 15.000000
|
||||
INS_HNTC2_MODE 3.000000
|
||||
INS_HNTC2_OPTS 22.000000
|
||||
INS_HNTC2_REF 1.000000
|
||||
LAND_ALT_LOW 700.000000
|
||||
LOG_BITMASK 196607.000000
|
||||
LOG_DARM_RATEMAX 1.000000
|
||||
LOIT_SPEED 4000.000000
|
||||
LOIT_ACC_MAX 1000.000000
|
||||
LOIT_BRK_ACCEL 500.000000
|
||||
LOIT_BRK_JERK 1000.000000
|
||||
LOIT_BRK_DELAY 0.250000
|
||||
MOT_BAT_VOLT_MAX 25.200000
|
||||
MOT_BAT_VOLT_MIN 19.800000
|
||||
MOT_SPIN_ARM 0.010000
|
||||
MOT_SPIN_MIN 0.010000
|
||||
MOT_SPOOL_TIME 0.250000
|
||||
MOT_THST_EXPO 0.700000
|
||||
MOT_THST_HOVER 0.125000
|
||||
PILOT_SPEED_DN 500.000000
|
||||
PILOT_SPEED_UP 500.000000
|
||||
PILOT_Y_RATE 250.000000
|
||||
PSC_ACCZ_FLTD 40.000000
|
||||
PSC_ACCZ_FLTT 40.000000
|
||||
PSC_ACCZ_P 0.200000
|
||||
PSC_JERK_XY 10.000000
|
||||
PSC_VELZ_P 3.000000
|
||||
RC7_OPTION 0.000000
|
||||
RTL_ALT 700.000000
|
||||
RTL_LOIT_TIME 2000.000000
|
||||
RTL_SPEED 900.000000
|
||||
WPNAV_ACCEL 1100.000000
|
||||
WPNAV_ACCEL_Z 300.000000
|
||||
WPNAV_JERK 6.000000
|
||||
WPNAV_SPEED 3000.000000
|
||||
WPNAV_SPEED_DN 500.000000
|
||||
WPNAV_SPEED_UP 500.000000
|
||||
@ -190,6 +190,12 @@ class VehicleInfo(object):
|
||||
"default_params_filename": ["default_params/copter.parm", "default_params/quad-can.parm"],
|
||||
"periph_params_filename": ["default_params/periph.parm", "default_params/quad-periph.parm"],
|
||||
},
|
||||
"freestyle": {
|
||||
"model": "X:@ROMFS/models/freestyle.json",
|
||||
"waf_target": "bin/arducopter",
|
||||
"default_params_filename": ["default_params/copter.parm",
|
||||
"models/freestyle.param"],
|
||||
},
|
||||
},
|
||||
},
|
||||
"Helicopter": {
|
||||
|
||||
Loading…
Reference in New Issue
Block a user