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airframes: sitl boat: switch to dynamic control allocation

This commit is contained in:
Beat Küng 2021-12-17 11:34:02 +01:00 committed by Daniel Agar
parent 8486ca5766
commit 203e253dfe
3 changed files with 20 additions and 17 deletions
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21
ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat
View File

@ -28,6 +28,25 @@ param set-default CBRK_AIRSPD_CHK 162128
param set-default GND_MAX_ANG 0.6
param set-default GND_WHEEL_BASE 2.0
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 9
param set-default CA_ROTOR_COUNT 2
param set-default CA_ROTOR0_AX 1
param set-default CA_ROTOR0_AZ 0
param set-default CA_ROTOR0_KM 0
param set-default CA_ROTOR0_PX -2
param set-default CA_ROTOR0_PY -1
param set-default CA_ROTOR1_AX 1
param set-default CA_ROTOR1_AZ 0
param set-default CA_ROTOR1_KM 0
param set-default CA_ROTOR1_PX -2
param set-default CA_ROTOR1_PY 1
param set-default CA_R_REV 3
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
set MAV_TYPE 11
set MIXER_FILE etc/mixers-sitl/boat_sitl.main.mix
set MIXER skip

1
ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt
View File

@ -33,7 +33,6 @@
px4_add_romfs_files(
autogyro_sitl.main.mix
boat_sitl.main.mix
delta_wing_sitl.main.mix
package_drop.aux.mix
plane_sitl.main.mix

15
ROMFS/px4fmu_common/mixers-sitl/boat_sitl.main.mix
View File

@ -1,15 +0,0 @@
Mixer for SITL boat
=========================================================
Throttle of left propeller of boat on Output 0
---------------------------------------
M: 2
S: 0 2 10000 10000 0 -10000 10000
S: 0 3 10000 10000 0 -10000 10000
Throttle of right propeller of boat on Output 1
---------------------------------------
M: 2
S: 0 2 -10000 -10000 0 -10000 10000
S: 0 3 10000 10000 0 -10000 10000