diff --git a/Tools/autotest/default_params/copter-hexa.parm b/Tools/autotest/default_params/copter-hexa.parm index c7762704f3..daf5c17a17 100644 --- a/Tools/autotest/default_params/copter-hexa.parm +++ b/Tools/autotest/default_params/copter-hexa.parm @@ -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 ! diff --git a/Tools/autotest/default_params/copter-octa.parm b/Tools/autotest/default_params/copter-octa.parm index 7cebb39993..e7aac6cfda 100644 --- a/Tools/autotest/default_params/copter-octa.parm +++ b/Tools/autotest/default_params/copter-octa.parm @@ -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 ! diff --git a/Tools/autotest/default_params/copter-octaquad.parm b/Tools/autotest/default_params/copter-octaquad.parm index c3db573dd1..a571fcfb7a 100644 --- a/Tools/autotest/default_params/copter-octaquad.parm +++ b/Tools/autotest/default_params/copter-octaquad.parm @@ -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 ! diff --git a/Tools/autotest/default_params/copter-tri.parm b/Tools/autotest/default_params/copter-tri.parm index ccbc34fa43..978b273d9f 100644 --- a/Tools/autotest/default_params/copter-tri.parm +++ b/Tools/autotest/default_params/copter-tri.parm @@ -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 diff --git a/Tools/autotest/default_params/copter-y6.parm b/Tools/autotest/default_params/copter-y6.parm index 63d889cb6d..5fcd5912c7 100644 --- a/Tools/autotest/default_params/copter-y6.parm +++ b/Tools/autotest/default_params/copter-y6.parm @@ -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 diff --git a/Tools/autotest/sim_vehicle.py b/Tools/autotest/sim_vehicle.py index 82e9135867..e28c7d8dfe 100755 --- a/Tools/autotest/sim_vehicle.py +++ b/Tools/autotest/sim_vehicle.py @@ -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",