autotest: support coaxcopter

Tools/autotest/CoaxCopter.parm

@@ -0,0 +1,75 @@
+BATT_MONITOR 4.0000
+COMPASS_OFS2_X 5.0000
+COMPASS_OFS2_Y 13.0000
+COMPASS_OFS2_Z -18.0000
+COMPASS_OFS3_X 1.0000
+COMPASS_OFS3_Y 1.0000
+COMPASS_OFS3_Z 1.0000
+COMPASS_OFS_X 2.8749
+COMPASS_OFS_Y -21.8262
+COMPASS_OFS_Z -21.8422
+FLTMODE1 7.0000
+FLTMODE2 9.0000
+FLTMODE3 6.0000
+FLTMODE4 3.0000
+FLTMODE5 5.0000
+# 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
+# autotune values
+ATC_RATE_FF_ENAB 1.000000
+ATC_RAT_PIT_D    0.200000
+ATC_RAT_PIT_FILT 20.000000
+ATC_RAT_PIT_I    2.000000
+ATC_RAT_PIT_IMAX 1.000000
+ATC_RAT_PIT_P    2.000000
+ATC_RAT_RLL_D    0.200000
+ATC_RAT_RLL_FILT 20.000000
+ATC_RAT_RLL_I    2.000000
+ATC_RAT_RLL_IMAX 1.000000
+ATC_RAT_RLL_P    2.000000
+ATC_RAT_YAW_D    0.000000
+ATC_RAT_YAW_FILT 5.000000
+ATC_RAT_YAW_I    0.139709
+ATC_RAT_YAW_IMAX 0.222000
+ATC_RAT_YAW_P    1.397085

Tools/autotest/sim_vehicle.py

@@ -340,6 +340,11 @@ _options_for_frame = {
             "waf_target": "bin/arducopter-single",
             "default_params_filename": "SingleCopter.parm",
     },
+    "coaxcopter": {
+	    "make_target": "sitl-coax",
+            "waf_target": "bin/arducopter-coax",
+            "default_params_filename": "CoaxCopter.parm",
+    },
     # PLANE
     "quadplane-tilttri" : {
         "build_target" : "sitl-tri",

Tools/autotest/sim_vehicle.sh

@@ -296,6 +296,11 @@ case $FRAME in
         MODEL="$FRAME"
         DEFAULTS_PATH="$autotest/SingleCopter.parm"
 	;;
+    coaxcopter*)
+	BUILD_TARGET="sitl-coax"
+        MODEL="$FRAME"
+        DEFAULTS_PATH="$autotest/CoaxCopter.parm"
+	;;
     IrisRos)
 	BUILD_TARGET="sitl"
         DEFAULTS_PATH="$autotest/copter_params.parm"