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Frame_Params: Fix Solo params for copter 4

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Matt Lawrence 2019-12-17 17:33:16 -05:00 committed by Andrew Tridgell
parent 2e0323f75a
commit 886153abf5
6 changed files with 12 additions and 36 deletions
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3
Tools/Frame_params/Solo_Copter-3.7_BlackCube.param → Tools/Frame_params/Solo_Copter-4.param
View File

@ -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

3
Tools/Frame_params/Solo_Copter-3.7_GreenCube.param → Tools/Frame_params/Solo_Copter-4_GreenCube.param
View File

@ -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

10
Tools/Frame_params/test params stock solo.param
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@ -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

16
Tools/Frame_params/test params.param
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@ -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

6
libraries/AP_HAL_ChibiOS/hwdef/CubeGreen-solo/hwdef.dat
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@ -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'

10
libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/hwdef.dat
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@ -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