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Tools: use heli params for most of heli-dual params

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Peter Barker 2017-05-27 11:03:57 +10:00 committed by Francisco Ferreira
parent 791b1f43e9
commit a6de3b6865
2 changed files with 3 additions and 83 deletions
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83
Tools/autotest/default_params/copter-heli-dual.parm
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@ -1,83 +1,2 @@
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 11
# 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_RAT_PIT_P 0.900
ATC_RAT_PIT_I 11.250
ATC_RAT_PIT_D 0.045
ATC_RAT_PIT_IMAX 1.000
ATC_RAT_PIT_VFF 0.200
ATC_RAT_RLL_P 0.9000
ATC_RAT_RLL_I 11.250
ATC_RAT_RLL_D 0.045
ATC_RAT_RLL_IMAX 1.0000
ATC_RAT_RLL_VFF 0.200
ATC_RAT_YAW_I 0.088
ATC_RAT_YAW_D 0.018
ATC_RAT_YAW_VFF 0.200000
ATC_ANG_PIT_P 12.5368
ATC_ANG_RLL_P 15.2386
ATC_ANG_YAW_P 7.6965
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
WP_YAW_BEHAVIOR 2
IM_ACRO_COL_EXP 0.2
IM_STAB_COL_1 400
IM_STAB_COL_2 600
IM_STAB_COL_3 700
IM_STAB_COL_4 900
ATC_PIRO_COMP 0 # should this line be removed?

3
Tools/autotest/pysim/vehicleinfo.py
View File

@ -87,7 +87,8 @@ class VehicleInfo(object):
"heli-dual": {
"make_target": "sitl-heli-dual",
"waf_target": "bin/arducopter-heli",
"default_params_filename": "default_params/copter-heli-dual.parm",
"default_params_filename": ["default_params/copter-heli.parm",
"default_params/copter-heli-dual.parm"],
},
"heli-compound": {
"make_target": "sitl-heli-compound",