From f9fa091cc61c3de364f2f844a275d9ae749ac59c Mon Sep 17 00:00:00 2001 From: Matt Lawrence Date: Tue, 17 Dec 2019 17:33:16 -0500 Subject: [PATCH] Frame_Params: Fix Solo params for copter 4 --- ...r-3.7_BlackCube.param => Solo_Copter-4.param} | 3 ++- ...nCube.param => Solo_Copter-4_GreenCube.param} | 3 ++- Tools/Frame_params/test params stock solo.param | 10 ---------- Tools/Frame_params/test params.param | 16 ---------------- .../hwdef/CubeGreen-solo/hwdef.dat | 6 +++--- .../AP_HAL_ChibiOS/hwdef/CubeSolo/hwdef.dat | 10 +++++----- 6 files changed, 12 insertions(+), 36 deletions(-) rename Tools/Frame_params/{Solo_Copter-3.7_BlackCube.param => Solo_Copter-4.param} (97%) rename Tools/Frame_params/{Solo_Copter-3.7_GreenCube.param => Solo_Copter-4_GreenCube.param} (97%) delete mode 100644 Tools/Frame_params/test params stock solo.param delete mode 100644 Tools/Frame_params/test params.param diff --git a/Tools/Frame_params/Solo_Copter-3.7_BlackCube.param b/Tools/Frame_params/Solo_Copter-4.param similarity index 97% rename from Tools/Frame_params/Solo_Copter-3.7_BlackCube.param rename to Tools/Frame_params/Solo_Copter-4.param index 3a6078a300..58d435e666 100644 --- a/Tools/Frame_params/Solo_Copter-3.7_BlackCube.param +++ b/Tools/Frame_params/Solo_Copter-4.param @@ -1,4 +1,4 @@ -# 3DR Solo with stock or black cube on Copter 3.7 only +# 3DR Solo with stock or black cube on Copter 4 only ACRO_RP_P,4 ACRO_THR_MID,0.4 ACRO_YAW_P,1 @@ -39,6 +39,7 @@ BATT_LOW_MAH,520 BATT_LOW_TIMER,10 BATT_LOW_VOLT,14 BATT_MONITOR,5 +PWM_VOLT_SEL,1 BRD_SAFETY_MASK,16368 BRD_SAFETYENABLE,0 BRD_TYPE,3 diff --git a/Tools/Frame_params/Solo_Copter-3.7_GreenCube.param b/Tools/Frame_params/Solo_Copter-4_GreenCube.param similarity index 97% rename from Tools/Frame_params/Solo_Copter-3.7_GreenCube.param rename to Tools/Frame_params/Solo_Copter-4_GreenCube.param index f206d9d1da..dd73f7ebbd 100644 --- a/Tools/Frame_params/Solo_Copter-3.7_GreenCube.param +++ b/Tools/Frame_params/Solo_Copter-4_GreenCube.param @@ -1,4 +1,4 @@ -# 3DR Solo with Green Cube on Copter 3.7 only +# 3DR Solo with Green Cube on Copter 4.0+ only ACRO_RP_P,4 ACRO_THR_MID,0.4 ACRO_YAW_P,1 @@ -39,6 +39,7 @@ BATT_LOW_MAH,520 BATT_LOW_TIMER,10 BATT_LOW_VOLT,14 BATT_MONITOR,5 +PWM_VOLT_SEL,1 BRD_SAFETY_MASK,16368 BRD_SAFETYENABLE,0 CIRCLE_RADIUS,3000 diff --git a/Tools/Frame_params/test params stock solo.param b/Tools/Frame_params/test params stock solo.param deleted file mode 100644 index 3dad5b29d6..0000000000 --- a/Tools/Frame_params/test params stock solo.param +++ /dev/null @@ -1,10 +0,0 @@ -# New stock cube notch params for chris to try -INS_HNTCH_ATT,40 -INS_HNTCH_ENABLE,1 -INS_HNTCH_REF,0.26 -INS_HNTCH_FREQ,200 -INS_HNTCH_BW,100 -INS_NOTCH_ATT,40 -INS_NOTCH_ENABLE,1 -INS_NOTCH_FREQ,98 -INS_NOTCH_BW,49 diff --git a/Tools/Frame_params/test params.param b/Tools/Frame_params/test params.param deleted file mode 100644 index 9a54eb1193..0000000000 --- a/Tools/Frame_params/test params.param +++ /dev/null @@ -1,16 +0,0 @@ -# New Green Cube tuning and notch params for chris to try -ATC_RAT_PIT_D,0.008 -ATC_RAT_PIT_I,0.280 -ATC_RAT_PIT_P,0.280 -ATC_RAT_RLL_D,0.005 -ATC_RAT_RLL_I,0.108 -ATC_RAT_RLL_P,0.108 -INS_HNTCH_ATT,40 -INS_HNTCH_ENABLE,1 -INS_HNTCH_REF,0.26 -INS_HNTCH_FREQ,200 -INS_HNTCH_BW,100 -INS_NOTCH_ATT,40 -INS_NOTCH_ENABLE,1 -INS_NOTCH_FREQ,98 -INS_NOTCH_BW,49 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeGreen-solo/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeGreen-solo/hwdef.dat index 360b15f04a..de4e9e68c2 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeGreen-solo/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeGreen-solo/hwdef.dat @@ -2,10 +2,10 @@ # for The CUBE Green hardware in a 3DR Solo # this is based on the CubeBlack hwdef, with Solo's required parameter defaults # The CUBE green is identical to a CUBE Black, but uses 5v signalling for the Solo ESC issues -# do not use this hwdef with any configuration other than a 3DR Solo with a Green Cube running Copter 3.7. +# do not use this hwdef with any configuration other than a 3DR Solo with a Green Cube running Copter 4. include ../CubeBlack/hwdef.dat # pull Solo's default parameters from /Tools/Frame_params -# these are parameters the Solo requires for proper operation that are differnet from the 3.7 standard defaults. -env DEFAULT_PARAMETERS 'Tools/Frame_params/Solo_Copter-3.7_GreenCube.param' +# these are parameters the Solo requires for proper operation that are different from the 4 standard defaults. +env DEFAULT_PARAMETERS 'Tools/Frame_params/Solo_Copter-4_GreenCube.param' diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/hwdef.dat index a662282aee..cea32acca4 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/hwdef.dat @@ -1,7 +1,7 @@ # hw definition file for processing by chibios_hwdef.py -# for The CUBE Black and the Cube Purple hardware in a 3DR Solo -# this is based on the CubeBlack hwdef, with Solo's required parameter defaults -# do not use this hwdef with any configuration other than a 3DR Solo with a stock or black cube running Copter 3.7. +# for stock Pixhawk 2 cube, or the hex CUBE Black in a 3DR Solo +# this is based on the FMUv3 hwdef, with Solo's required parameter defaults +# do not use this hwdef for any other vehicle or configuration include ../fmuv3/hwdef.dat @@ -11,8 +11,8 @@ SPIDEV icm20948_ext SPI4 DEVID1 MPU_EXT_CS MODE3 4*MHZ 8*MHZ SPIDEV icm20602_ext SPI4 DEVID3 GYRO_EXT_CS MODE3 4*MHZ 8*MHZ # pull Solo's default parameters from /Tools/Frame_params -# these are parameters the Solo requires for proper operation that are differnet from the 3.7 standard defaults. -env DEFAULT_PARAMETERS 'Tools/Frame_params/Solo_Copter-3.7_BlackCube.param' +# these are parameters the Solo requires for proper operation that are different from the copter defaults. +env DEFAULT_PARAMETERS 'Tools/Frame_params/Solo_Copter-4.param' # three IMUs, but allow for different varients. First two IMUs are # isolated, 3rd isn't