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Tools: use parm inheritance for copter models

This commit is contained in:
Peter Barker 2017-05-24 15:49:39 +10:00
parent 26ff1acf55
commit d1fb2e7c53
6 changed files with 10 additions and 434 deletions
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93
Tools/autotest/default_params/copter-hexa.parm
View File

@ -1,94 +1 @@
EK2_ENABLE 1
FRAME_TYPE 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
FRAME_CLASS 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
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
MOT_THST_HOVER 0.36
# flightmodes
# switch 1 Circle
# switch 2 LAND
# switch 3 RTL
# switch 4 Auto
# switch 5 Loiter
# switch 6 Stab
# STABILIZE 0 !
# ACRO 1
# ALT_HOLD 2
# AUTO 3 !
# GUIDED 4
# LOITER 5 !
# RTL 6 !
# CIRCLE 7 !
# POSITION 8
# LAND 9 !

93
Tools/autotest/default_params/copter-octa.parm
View File

@ -1,94 +1 @@
EK2_ENABLE 1
FRAME_TYPE 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
FRAME_CLASS 3
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
MOT_THST_HOVER 0.36
# flightmodes
# switch 1 Circle
# switch 2 LAND
# switch 3 RTL
# switch 4 Auto
# switch 5 Loiter
# switch 6 Stab
# STABILIZE 0 !
# ACRO 1
# ALT_HOLD 2
# AUTO 3 !
# GUIDED 4
# LOITER 5 !
# RTL 6 !
# CIRCLE 7 !
# POSITION 8
# LAND 9 !

93
Tools/autotest/default_params/copter-octaquad.parm
View File

@ -1,94 +1 @@
EK2_ENABLE 1
FRAME_TYPE 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
FRAME_CLASS 4
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
MOT_THST_HOVER 0.36
# flightmodes
# switch 1 Circle
# switch 2 LAND
# switch 3 RTL
# switch 4 Auto
# switch 5 Loiter
# switch 6 Stab
# STABILIZE 0 !
# ACRO 1
# ALT_HOLD 2
# AUTO 3 !
# GUIDED 4
# LOITER 5 !
# RTL 6 !
# CIRCLE 7 !
# POSITION 8
# LAND 9 !

75
Tools/autotest/default_params/copter-tri.parm
View File

@ -1,81 +1,6 @@
SERVO7_MIN 1000
SERVO7_MAX 2000
EK2_ENABLE 1
FRAME_TYPE 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
FRAME_CLASS 7
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 for roll/pitch
ATC_RAT_PIT_D 0.003601
ATC_RAT_PIT_I 0.425690

75
Tools/autotest/default_params/copter-y6.parm
View File

@ -1,79 +1,4 @@
EK2_ENABLE 1
FRAME_TYPE 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
FRAME_CLASS 5
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

15
Tools/autotest/sim_vehicle.py
View File

@ -305,27 +305,32 @@ _options = {
"hexa": {
"make_target": "sitl",
"waf_target": "bin/arducopter",
"default_params_filename": "default_params/copter-hexa.parm",
"default_params_filename": ["default_params/copter.parm",
"default_params/copter-hexa.parm" ],
},
"octa-quad": {
"make_target": "sitl",
"waf_target": "bin/arducopter",
"default_params_filename": "default_params/copter-octaquad.parm",
"default_params_filename": ["default_params/copter.parm",
"default_params/copter-octaquad.parm" ],
},
"octa": {
"make_target": "sitl",
"waf_target": "bin/arducopter",
"default_params_filename": "default_params/copter-octa.parm",
"default_params_filename": ["default_params/copter.parm",
"default_params/copter-octa.parm" ],
},
"tri": {
"make_target": "sitl",
"waf_target": "bin/arducopter",
"default_params_filename": "default_params/copter-tri.parm",
"default_params_filename": ["default_params/copter.parm",
"default_params/copter-tri.parm" ],
},
"y6": {
"make_target": "sitl",
"waf_target": "bin/arducopter",
"default_params_filename": "default_params/copter-y6.parm",
"default_params_filename": ["default_params/copter.parm",
"default_params/copter-y6.parm" ],
},
"firefly": {
"waf_target": "bin/arduplane",