From d1d03319ac86c2da7c2b33bb3ae852b794599668 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 7 Sep 2021 13:26:24 +1000 Subject: [PATCH] Tools: make heli-blade simulation work --- Tools/autotest/arducopter.py | 1 + .../default_params/copter-heli-blade360.parm | 91 ------------------- Tools/autotest/pysim/vehicleinfo.py | 10 ++ 3 files changed, 11 insertions(+), 91 deletions(-) delete mode 100644 Tools/autotest/default_params/copter-heli-blade360.parm diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index 52af3fb131..0b5f28d188 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -6777,6 +6777,7 @@ class AutoTestCopter(AutoTest): 'heli-compound': "wrong binary, different takeoff regime", 'heli-dual': "wrong binary, different takeoff regime", 'heli': "wrong binary, different takeoff regime", + 'heli-blade360': "wrong binary, different takeoff regime", 'tri': "bad yaw rate", } for frame in sorted(copter_vinfo_options["frames"].keys()): diff --git a/Tools/autotest/default_params/copter-heli-blade360.parm b/Tools/autotest/default_params/copter-heli-blade360.parm deleted file mode 100644 index ed6847815f..0000000000 --- a/Tools/autotest/default_params/copter-heli-blade360.parm +++ /dev/null @@ -1,91 +0,0 @@ -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 6 -# 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_INPUT_TC 0.20 -ATC_RAT_PIT_P 0.05 -ATC_RAT_PIT_I 0.15 -ATC_RAT_PIT_D 0.006 -ATC_RAT_PIT_IMAX 0.4 -ATC_RAT_PIT_ILMI 0.1 -ATC_RAT_PIT_VFF 0.25 -ATC_RAT_RLL_P 0.05 -ATC_RAT_RLL_I 0.15 -ATC_RAT_RLL_D 0.003 -ATC_RAT_RLL_IMAX 0.4 -ATC_RAT_RLL_ILMI 0.1 -ATC_RAT_RLL_VFF 0.3 -ATC_RAT_YAW_P 0.35 -ATC_RAT_YAW_I 0.088 -ATC_RAT_YAW_D 0.02 -ATC_RAT_YAW_VFF 0.0 -ATC_ANG_PIT_P 6.0 -ATC_ANG_RLL_P 6.0 -ATC_ANG_YAW_P 4.5 -ATC_ACCEL_P_MAX 60000 -ATC_ACCEL_R_MAX 60000 -ATC_ACCEL_Y_MAX 27000 -ATC_HOVR_ROL_TRM 320 -H_COL_MAX 1740 -H_COL_MID 1500 -H_COL_MIN 1460 -H_RSC_MODE 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 -RPM_TYPE 10 -WP_YAW_BEHAVIOR 2 -IM_ACRO_COL_EXP 0.2 -PSC_VELXY_D 0.5 diff --git a/Tools/autotest/pysim/vehicleinfo.py b/Tools/autotest/pysim/vehicleinfo.py index 87e9330f74..9320a225af 100644 --- a/Tools/autotest/pysim/vehicleinfo.py +++ b/Tools/autotest/pysim/vehicleinfo.py @@ -150,6 +150,11 @@ class VehicleInfo(object): "default_params_filename": ["default_params/copter-heli.parm", "default_params/copter-heli-dual.parm"], }, + "heli-blade360": { + "waf_target": "bin/arducopter-heli", + "default_params_filename": ["default_params/copter-heli.parm", + ], + }, "singlecopter": { "waf_target": "bin/arducopter", "default_params_filename": "default_params/copter-single.parm", @@ -193,6 +198,11 @@ class VehicleInfo(object): # "default_params_filename": ["default_params/copter-heli.parm", # "default_params/copter-heli-compound.parm"], # }, + "heli-blade360": { + "waf_target": "bin/arducopter-heli", + "default_params_filename": ["default_params/copter-heli.parm", + ], + }, }, }, "Blimp": {