autotest: added Y6 to sim_vehicle.sh

Tools/autotest/sim_vehicle.sh

@@ -263,6 +263,11 @@ case $FRAME in
         MODEL="$FRAME"
         DEFAULTS_PATH="$autotest/tri_params.parm"
 	;;
+    y6*)
+	BUILD_TARGET="sitl-y6"
+        MODEL="$FRAME"
+        DEFAULTS_PATH="$autotest/y6_params.parm"
+	;;
     heli*)
 	BUILD_TARGET="sitl-heli"
         MODEL="$FRAME"

Tools/autotest/y6_params.parm

@@ -0,0 +1,89 @@
+EK2_ENABLE      1
+FRAME		0
+MAG_ENABLE	1
+FS_THR_ENABLE   1
+BATT_MONITOR    4
+CH7_OPT         7
+COMPASS_LEARN   0
+COMPASS_OFS_X   5
+COMPASS_OFS_Y   13
+COMPASS_OFS_Z   -18
+COMPASS_OFS2_X   5
+COMPASS_OFS2_Y   13
+COMPASS_OFS2_Z   -18
+FENCE_RADIUS    150
+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
+FLTMODE1        7
+FLTMODE2        9
+FLTMODE3        6
+FLTMODE4        3
+FLTMODE5        5
+FLTMODE6		0
+SUPER_SIMPLE	0
+SIM_GPS_DELAY   1
+SIM_ACC_RND     0
+SIM_GYR_RND     0
+SIM_WIND_SPD    0
+SIM_WIND_TURB   0
+SIM_BARO_RND    0
+SIM_MAG_RND     0
+SIM_GPS_GLITCH_X    0
+SIM_GPS_GLITCH_Y    0
+SIM_GPS_GLITCH_Z    0
+# 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
+MOT_THST_EXPO 0.5
+# autotune results
+ATC_RATE_FF_ENAB 1.000000
+ATC_RAT_PIT_D    0.002706
+ATC_RAT_PIT_I    0.331873
+ATC_RAT_PIT_IMAX 0.444000
+ATC_RAT_PIT_P    0.331873
+ATC_RAT_RLL_D    0.003133
+ATC_RAT_RLL_I    0.349340
+ATC_RAT_RLL_IMAX 0.444000
+ATC_RAT_RLL_P    0.349340
+ATC_RAT_YAW_D    0.000000
+ATC_RAT_YAW_I    0.060954
+ATC_RAT_YAW_IMAX 0.222000
+ATC_RAT_YAW_P    0.609544