From bf335b11edb93fb0dc514744ff12c43af069003d Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Tue, 2 Nov 2021 22:57:45 +0000 Subject: [PATCH] Tools: autotest: defaults: use new compass params --- Tools/autotest/default_params/blimp.parm | 18 +++--- .../default_params/copter-AVC2013.parm | 18 +++--- .../autotest/default_params/copter-heli.parm | 18 +++--- .../default_params/copter-single.parm | 18 +++--- Tools/autotest/default_params/copter.parm | 18 +++--- Tools/autotest/default_params/firefly.parm | 18 +++--- .../default_params/quadplane-cl84.parm | 18 +++--- .../default_params/quadplane-tilttri.parm | 18 +++--- .../default_params/quadplane-tilttrivec.parm | 18 +++--- .../default_params/quadplane-tri.parm | 18 +++--- Tools/autotest/default_params/quadplane.parm | 18 +++--- Tools/autotest/default_params/sub-6dof.parm | 18 +++--- Tools/autotest/default_params/sub.parm | 18 +++--- .../default_params/vee-gull 005.param | 59 +++---------------- 14 files changed, 126 insertions(+), 167 deletions(-) diff --git a/Tools/autotest/default_params/blimp.parm b/Tools/autotest/default_params/blimp.parm index 9db8476573..60a3258850 100644 --- a/Tools/autotest/default_params/blimp.parm +++ b/Tools/autotest/default_params/blimp.parm @@ -2,15 +2,15 @@ EK2_ENABLE 1 FRAME_TYPE 0 FS_THR_ENABLE 1 BATT_MONITOR 4 -COMPASS_OFS_X 5 -COMPASS_OFS_Y 13 -COMPASS_OFS_Z -18 -COMPASS_OFS2_X 5 -COMPASS_OFS2_Y 13 -COMPASS_OFS2_Z -18 -COMPASS_OFS3_X 5 -COMPASS_OFS3_Y 13 -COMPASS_OFS3_Z -18 +COMPASS1_OFS_X 5 +COMPASS1_OFS_Y 13 +COMPASS1_OFS_Z -18 +COMPASS2_OFS_X 5 +COMPASS2_OFS_Y 13 +COMPASS2_OFS_Z -18 +COMPASS3_OFS_X 5 +COMPASS3_OFS_Y 13 +COMPASS3_OFS_Z -18 FRAME_CLASS 1 RC1_MAX 2000 RC1_MIN 1000 diff --git a/Tools/autotest/default_params/copter-AVC2013.parm b/Tools/autotest/default_params/copter-AVC2013.parm index fdf6b54c97..587feb2523 100644 --- a/Tools/autotest/default_params/copter-AVC2013.parm +++ b/Tools/autotest/default_params/copter-AVC2013.parm @@ -6,15 +6,15 @@ FRAME_TYPE 0 BATT_MONITOR 4 FS_THR_ENABLE 1 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 -COMPASS_OFS3_X 5 -COMPASS_OFS3_Y 13 -COMPASS_OFS3_Z -18 +COMPASS1_OFS_X 5 +COMPASS1_OFS_Y 13 +COMPASS1_OFS_Z -18 +COMPASS2_OFS_X 5 +COMPASS2_OFS_Y 13 +COMPASS2_OFS_Z -18 +COMPASS3_OFS_X 5 +COMPASS3_OFS_Y 13 +COMPASS3_OFS_Z -18 RC1_MAX 2000.000000 RC1_MIN 1000.000000 RC1_TRIM 1500.000000 diff --git a/Tools/autotest/default_params/copter-heli.parm b/Tools/autotest/default_params/copter-heli.parm index 3f0fd97afe..55ef0b6b41 100644 --- a/Tools/autotest/default_params/copter-heli.parm +++ b/Tools/autotest/default_params/copter-heli.parm @@ -1,13 +1,13 @@ 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 +COMPASS2_OFS_X 5.0000 +COMPASS2_OFS_Y 13.0000 +COMPASS2_OFS_Z -18.0000 +COMPASS3_OFS_X 1.0000 +COMPASS3_OFS_Y 1.0000 +COMPASS3_OFS_Z 1.0000 +COMPASS1_OFS_X 2.8749 +COMPASS1_OFS_Y -21.8262 +COMPASS1_OFS_Z -21.8422 FLTMODE1 7.0000 FLTMODE2 9.0000 FLTMODE3 6.0000 diff --git a/Tools/autotest/default_params/copter-single.parm b/Tools/autotest/default_params/copter-single.parm index ada5fc6f18..7b8f06f32b 100644 --- a/Tools/autotest/default_params/copter-single.parm +++ b/Tools/autotest/default_params/copter-single.parm @@ -1,13 +1,13 @@ 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 +COMPASS2_OFS_X 5.0000 +COMPASS2_OFS_Y 13.0000 +COMPASS2_OFS_Z -18.0000 +COMPASS3_OFS_X 1.0000 +COMPASS3_OFS_Y 1.0000 +COMPASS3_OFS_Z 1.0000 +COMPASS1_OFS_X 2.8749 +COMPASS1_OFS_Y -21.8262 +COMPASS1_OFS_Z -21.8422 FLTMODE1 7.0000 FLTMODE2 9.0000 FLTMODE3 6.0000 diff --git a/Tools/autotest/default_params/copter.parm b/Tools/autotest/default_params/copter.parm index 07a8a37666..24c52e1d6f 100644 --- a/Tools/autotest/default_params/copter.parm +++ b/Tools/autotest/default_params/copter.parm @@ -3,15 +3,15 @@ FS_THR_ENABLE 1 ATC_RAT_YAW_P 0.09 ATC_RAT_YAW_I 0.009 BATT_MONITOR 4 -COMPASS_OFS_X 5 -COMPASS_OFS_Y 13 -COMPASS_OFS_Z -18 -COMPASS_OFS2_X 5 -COMPASS_OFS2_Y 13 -COMPASS_OFS2_Z -18 -COMPASS_OFS3_X 5 -COMPASS_OFS3_Y 13 -COMPASS_OFS3_Z -18 +COMPASS1_OFS_X 5 +COMPASS1_OFS_Y 13 +COMPASS1_OFS_Z -18 +COMPASS2_OFS_X 5 +COMPASS2_OFS_Y 13 +COMPASS2_OFS_Z -18 +COMPASS3_OFS_X 5 +COMPASS3_OFS_Y 13 +COMPASS3_OFS_Z -18 FENCE_RADIUS 150 FRAME_CLASS 1 RC1_MAX 2000.000000 diff --git a/Tools/autotest/default_params/firefly.parm b/Tools/autotest/default_params/firefly.parm index 01f95bfb3c..c4d2ce6669 100644 --- a/Tools/autotest/default_params/firefly.parm +++ b/Tools/autotest/default_params/firefly.parm @@ -12,15 +12,15 @@ ARSPD_FBW_MAX 35 ARSPD_FBW_MIN 6 ARSPD_USE 1 AUTOTUNE_LEVEL 8 -COMPASS_OFS2_X -0.420265 -COMPASS_OFS2_Y -0.726942 -COMPASS_OFS2_Z 6.665476 -COMPASS_OFS3_X -0.420265 -COMPASS_OFS3_Y -0.726942 -COMPASS_OFS3_Z 6.665476 -COMPASS_OFS_X -0.453570 -COMPASS_OFS_Y -0.585846 -COMPASS_OFS_Z 6.815743 +COMPASS2_OFS_X -0.420265 +COMPASS2_OFS_Y -0.726942 +COMPASS2_OFS_Z 6.665476 +COMPASS3_OFS_X -0.420265 +COMPASS3_OFS_Y -0.726942 +COMPASS3_OFS_Z 6.665476 +COMPASS1_OFS_X -0.453570 +COMPASS1_OFS_Y -0.585846 +COMPASS1_OFS_Z 6.815743 EK2_ENABLE 1 EK2_IMU_MASK 3 FBWB_CLIMB_RATE 10 diff --git a/Tools/autotest/default_params/quadplane-cl84.parm b/Tools/autotest/default_params/quadplane-cl84.parm index 9d988cd89e..230b9759c7 100644 --- a/Tools/autotest/default_params/quadplane-cl84.parm +++ b/Tools/autotest/default_params/quadplane-cl84.parm @@ -3,15 +3,15 @@ ARSPD_TYPE 0 ARSPD_FBW_MAX 35 ARSPD_FBW_MIN 6 AUTOTUNE_LEVEL 8 -COMPASS_OFS2_X -0.420265 -COMPASS_OFS2_Y -0.726942 -COMPASS_OFS2_Z 6.665476 -COMPASS_OFS3_X -0.420265 -COMPASS_OFS3_Y -0.726942 -COMPASS_OFS3_Z 6.665476 -COMPASS_OFS_X -0.453570 -COMPASS_OFS_Y -0.585846 -COMPASS_OFS_Z 6.815743 +COMPASS2_OFS_X -0.420265 +COMPASS2_OFS_Y -0.726942 +COMPASS2_OFS_Z 6.665476 +COMPASS3_OFS_X -0.420265 +COMPASS3_OFS_Y -0.726942 +COMPASS3_OFS_Z 6.665476 +COMPASS1_OFS_X -0.453570 +COMPASS1_OFS_Y -0.585846 +COMPASS1_OFS_Z 6.815743 FBWB_CLIMB_RATE 10 FLTMODE1 10 FLTMODE2 11 diff --git a/Tools/autotest/default_params/quadplane-tilttri.parm b/Tools/autotest/default_params/quadplane-tilttri.parm index 05fdeb052d..2b8998c60a 100644 --- a/Tools/autotest/default_params/quadplane-tilttri.parm +++ b/Tools/autotest/default_params/quadplane-tilttri.parm @@ -4,15 +4,15 @@ ARSPD_FBW_MAX 35 ARSPD_FBW_MIN 6 ARSPD_USE 1 AUTOTUNE_LEVEL 8 -COMPASS_OFS2_X -0.420265 -COMPASS_OFS2_Y -0.726942 -COMPASS_OFS2_Z 6.665476 -COMPASS_OFS3_X -0.420265 -COMPASS_OFS3_Y -0.726942 -COMPASS_OFS3_Z 6.665476 -COMPASS_OFS_X -0.453570 -COMPASS_OFS_Y -0.585846 -COMPASS_OFS_Z 6.815743 +COMPASS2_OFS_X -0.420265 +COMPASS2_OFS_Y -0.726942 +COMPASS2_OFS_Z 6.665476 +COMPASS3_OFS_X -0.420265 +COMPASS3_OFS_Y -0.726942 +COMPASS3_OFS_Z 6.665476 +COMPASS1_OFS_X -0.453570 +COMPASS1_OFS_Y -0.585846 +COMPASS1_OFS_Z 6.815743 EK2_ENABLE 1 EK2_IMU_MASK 3 FBWB_CLIMB_RATE 10 diff --git a/Tools/autotest/default_params/quadplane-tilttrivec.parm b/Tools/autotest/default_params/quadplane-tilttrivec.parm index e1d20acab5..59992b229f 100644 --- a/Tools/autotest/default_params/quadplane-tilttrivec.parm +++ b/Tools/autotest/default_params/quadplane-tilttrivec.parm @@ -4,15 +4,15 @@ ARSPD_FBW_MAX 35 ARSPD_FBW_MIN 6 ARSPD_USE 1 AUTOTUNE_LEVEL 8 -COMPASS_OFS2_X -0.420265 -COMPASS_OFS2_Y -0.726942 -COMPASS_OFS2_Z 6.665476 -COMPASS_OFS3_X -0.420265 -COMPASS_OFS3_Y -0.726942 -COMPASS_OFS3_Z 6.665476 -COMPASS_OFS_X -0.453570 -COMPASS_OFS_Y -0.585846 -COMPASS_OFS_Z 6.815743 +COMPASS2_OFS_X -0.420265 +COMPASS2_OFS_Y -0.726942 +COMPASS2_OFS_Z 6.665476 +COMPASS3_OFS_X -0.420265 +COMPASS3_OFS_Y -0.726942 +COMPASS3_OFS_Z 6.665476 +COMPASS1_OFS_X -0.453570 +COMPASS1_OFS_Y -0.585846 +COMPASS1_OFS_Z 6.815743 EK2_ENABLE 1 EK2_IMU_MASK 3 FBWB_CLIMB_RATE 10 diff --git a/Tools/autotest/default_params/quadplane-tri.parm b/Tools/autotest/default_params/quadplane-tri.parm index 1bec298bb9..43da199dc2 100644 --- a/Tools/autotest/default_params/quadplane-tri.parm +++ b/Tools/autotest/default_params/quadplane-tri.parm @@ -4,15 +4,15 @@ ARSPD_FBW_MAX 35 ARSPD_FBW_MIN 13 ARSPD_USE 1 AUTOTUNE_LEVEL 8 -COMPASS_OFS2_X -0.420265 -COMPASS_OFS2_Y -0.726942 -COMPASS_OFS2_Z 6.665476 -COMPASS_OFS3_X -0.420265 -COMPASS_OFS3_Y -0.726942 -COMPASS_OFS3_Z 6.665476 -COMPASS_OFS_X -0.453570 -COMPASS_OFS_Y -0.585846 -COMPASS_OFS_Z 6.815743 +COMPASS2_OFS_X -0.420265 +COMPASS2_OFS_Y -0.726942 +COMPASS2_OFS_Z 6.665476 +COMPASS3_OFS_X -0.420265 +COMPASS3_OFS_Y -0.726942 +COMPASS3_OFS_Z 6.665476 +COMPASS1_OFS_X -0.453570 +COMPASS1_OFS_Y -0.585846 +COMPASS1_OFS_Z 6.815743 EK2_ENABLE 1 EK2_IMU_MASK 3 FBWB_CLIMB_RATE 10 diff --git a/Tools/autotest/default_params/quadplane.parm b/Tools/autotest/default_params/quadplane.parm index 08bc254b4f..913876492f 100644 --- a/Tools/autotest/default_params/quadplane.parm +++ b/Tools/autotest/default_params/quadplane.parm @@ -4,15 +4,15 @@ ARSPD_FBW_MAX 35 ARSPD_FBW_MIN 13 ARSPD_USE 1 AUTOTUNE_LEVEL 8 -COMPASS_OFS2_X -0.420265 -COMPASS_OFS2_Y -0.726942 -COMPASS_OFS2_Z 6.665476 -COMPASS_OFS3_X -0.420265 -COMPASS_OFS3_Y -0.726942 -COMPASS_OFS3_Z 6.665476 -COMPASS_OFS_X -0.453570 -COMPASS_OFS_Y -0.585846 -COMPASS_OFS_Z 6.815743 +COMPASS2_OFS_X -0.420265 +COMPASS2_OFS_Y -0.726942 +COMPASS2_OFS_Z 6.665476 +COMPASS3_OFS_X -0.420265 +COMPASS3_OFS_Y -0.726942 +COMPASS3_OFS3_Z 6.665476 +COMPASS1_OFS_X -0.453570 +COMPASS1_OFS_Y -0.585846 +COMPASS1_OFS_Z 6.815743 EK2_ENABLE 1 EK2_IMU_MASK 3 EK3_ENABLE 1 diff --git a/Tools/autotest/default_params/sub-6dof.parm b/Tools/autotest/default_params/sub-6dof.parm index 67c7af365f..63772d1ca1 100644 --- a/Tools/autotest/default_params/sub-6dof.parm +++ b/Tools/autotest/default_params/sub-6dof.parm @@ -32,15 +32,15 @@ BTN8_FUNCTION 48 BTN8_SFUNCTION 0 BTN9_FUNCTION 23 BTN9_SFUNCTION 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 -COMPASS_OFS3_X 5 -COMPASS_OFS3_Y 13 -COMPASS_OFS3_Z -18 +COMPASS1_OFS_X 5 +COMPASS1_OFS_Y 13 +COMPASS1_OFS_Z -18 +COMPASS2_OFS_X 5 +COMPASS2_OFS_Y 13 +COMPASS2_OFS_Z -18 +COMPASS3_OFS_X 5 +COMPASS3_OFS_Y 13 +COMPASS3_OFS_Z -18 INS_ACCOFFS_X 0.001 INS_ACCOFFS_Y 0.001 INS_ACCOFFS_Z 0.001 diff --git a/Tools/autotest/default_params/sub.parm b/Tools/autotest/default_params/sub.parm index ddb5c84c8d..f6b1c52283 100644 --- a/Tools/autotest/default_params/sub.parm +++ b/Tools/autotest/default_params/sub.parm @@ -31,15 +31,15 @@ BTN8_FUNCTION 48 BTN8_SFUNCTION 0 BTN9_FUNCTION 23 BTN9_SFUNCTION 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 -COMPASS_OFS3_X 5 -COMPASS_OFS3_Y 13 -COMPASS_OFS3_Z -18 +COMPASS1_OFS_X 5 +COMPASS1_OFS_Y 13 +COMPASS1_OFS_Z -18 +COMPASS2_OFS_X 5 +COMPASS2_OFS_Y 13 +COMPASS2_OFS_Z -18 +COMPASS3_OFS_X 5 +COMPASS3_OFS_Y 13 +COMPASS3_OFS_Z -18 INS_ACCOFFS_X 0.001 INS_ACCOFFS_Y 0.001 INS_ACCOFFS_Z 0.001 diff --git a/Tools/autotest/default_params/vee-gull 005.param b/Tools/autotest/default_params/vee-gull 005.param index f56d83a9e2..d333f43189 100644 --- a/Tools/autotest/default_params/vee-gull 005.param +++ b/Tools/autotest/default_params/vee-gull 005.param @@ -70,58 +70,17 @@ CHUTE_ENABLED,0 CLI_ENABLED,0 COMPASS_AUTODEC,1 COMPASS_CAL_FIT,16 -COMPASS_DEC,0.2784546 -COMPASS_DEV_ID,0 -COMPASS_DEV_ID2,0 -COMPASS_DEV_ID3,0 -COMPASS_DIA_X,1 -COMPASS_DIA_Y,1 -COMPASS_DIA_Z,1 -COMPASS_DIA2_X,1 -COMPASS_DIA2_Y,1 -COMPASS_DIA2_Z,1 -COMPASS_DIA3_X,0 -COMPASS_DIA3_Y,0 -COMPASS_DIA3_Z,0 -COMPASS_EXTERN2,0 -COMPASS_EXTERN3,0 -COMPASS_EXTERNAL,0 COMPASS_LEARN,1 -COMPASS_MOT_X,0 -COMPASS_MOT_Y,0 -COMPASS_MOT_Z,0 -COMPASS_MOT2_X,0 -COMPASS_MOT2_Y,0 -COMPASS_MOT2_Z,0 -COMPASS_MOT3_X,0 -COMPASS_MOT3_Y,0 -COMPASS_MOT3_Z,0 -COMPASS_MOTCT,0 -COMPASS_ODI_X,0 -COMPASS_ODI_Y,0 -COMPASS_ODI_Z,0 -COMPASS_ODI2_X,0 -COMPASS_ODI2_Y,0 -COMPASS_ODI2_Z,0 -COMPASS_ODI3_X,0 -COMPASS_ODI3_Y,0 -COMPASS_ODI3_Z,0 -COMPASS_OFS_X,16.29132 -COMPASS_OFS_Y,4.398034 -COMPASS_OFS_Z,-36.21775 -COMPASS_OFS2_X,16.29132 -COMPASS_OFS2_Y,4.398034 -COMPASS_OFS2_Z,-36.21775 -COMPASS_OFS3_X,0 -COMPASS_OFS3_Y,0 -COMPASS_OFS3_Z,0 -COMPASS_ORIENT,0 -COMPASS_ORIENT2,0 -COMPASS_ORIENT3,0 +COMPASS1_OFS_X,16.29132 +COMPASS1_OFS_Y,4.398034 +COMPASS1_OFS_Z,-36.21775 +COMPASS2_OFS_X,16.29132 +COMPASS2_OFS_Y,4.398034 +COMPASS2_OFS_Z,-36.21775 COMPASS_PRIMARY,0 -COMPASS_USE,1 -COMPASS_USE2,1 -COMPASS_USE3,1 +COMPASS1_USE,1 +COMPASS2_USE,1 +COMPASS3_USE,1 CRASH_ACC_THRESH,0 CRASH_DETECT,0 DSPOILR_RUD_RATE,100