Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Tools: make heli-blade simulation work

This commit is contained in:
Peter Barker 2021-09-07 13:26:24 +10:00 committed by Peter Barker
parent ae40531cd7
commit d1d03319ac
3 changed files with 11 additions and 91 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
Tools/autotest/arducopter.py
View File

@ -6777,6 +6777,7 @@ class AutoTestCopter(AutoTest):
'heli-compound': "wrong binary, different takeoff regime",
'heli-dual': "wrong binary, different takeoff regime",
'heli': "wrong binary, different takeoff regime",
'heli-blade360': "wrong binary, different takeoff regime",
'tri': "bad yaw rate",
}
for frame in sorted(copter_vinfo_options["frames"].keys()):

91
Tools/autotest/default_params/copter-heli-blade360.parm
View File

@ -1,91 +0,0 @@
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
FRAME_CLASS 6
# 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
ATC_INPUT_TC 0.20
ATC_RAT_PIT_P 0.05
ATC_RAT_PIT_I 0.15
ATC_RAT_PIT_D 0.006
ATC_RAT_PIT_IMAX 0.4
ATC_RAT_PIT_ILMI 0.1
ATC_RAT_PIT_VFF 0.25
ATC_RAT_RLL_P 0.05
ATC_RAT_RLL_I 0.15
ATC_RAT_RLL_D 0.003
ATC_RAT_RLL_IMAX 0.4
ATC_RAT_RLL_ILMI 0.1
ATC_RAT_RLL_VFF 0.3
ATC_RAT_YAW_P 0.35
ATC_RAT_YAW_I 0.088
ATC_RAT_YAW_D 0.02
ATC_RAT_YAW_VFF 0.0
ATC_ANG_PIT_P 6.0
ATC_ANG_RLL_P 6.0
ATC_ANG_YAW_P 4.5
ATC_ACCEL_P_MAX 60000
ATC_ACCEL_R_MAX 60000
ATC_ACCEL_Y_MAX 27000
ATC_HOVR_ROL_TRM 320
H_COL_MAX 1740
H_COL_MID 1500
H_COL_MIN 1460
H_RSC_MODE 2
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
RPM_TYPE 10
WP_YAW_BEHAVIOR 2
IM_ACRO_COL_EXP 0.2
PSC_VELXY_D 0.5

10
Tools/autotest/pysim/vehicleinfo.py
View File

@ -150,6 +150,11 @@ class VehicleInfo(object):
"default_params_filename": ["default_params/copter-heli.parm",
"default_params/copter-heli-dual.parm"],
},
"heli-blade360": {
"waf_target": "bin/arducopter-heli",
"default_params_filename": ["default_params/copter-heli.parm",
],
},
"singlecopter": {
"waf_target": "bin/arducopter",
"default_params_filename": "default_params/copter-single.parm",
@ -193,6 +198,11 @@ class VehicleInfo(object):
# "default_params_filename": ["default_params/copter-heli.parm",
# "default_params/copter-heli-compound.parm"],
# },
"heli-blade360": {
"waf_target": "bin/arducopter-heli",
"default_params_filename": ["default_params/copter-heli.parm",
],
},
},
},
"Blimp": {