airframes/uuv_bluerov2_heavy: switch over to control allocation

This commit is contained in:
Beat Küng 2021-12-03 11:57:13 +01:00 committed by Daniel Agar
parent 4f8e6a9548
commit 2362feddac
3 changed files with 60 additions and 44 deletions

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@ -8,6 +8,63 @@
# disable circuit breaker for airspeed sensor
param set-default CBRK_AIRSPD_CHK 162128
set PWM_OUT 12345678
set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
set MIXER custom
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 6
param set-default CA_ROTOR_COUNT 8
param set-default CA_R_REV 255
param set-default CA_ROTOR0_AX 1.0000
param set-default CA_ROTOR0_AY -1.0000
param set-default CA_ROTOR0_AZ 0.0000
param set-default CA_ROTOR0_KM 0.0000
param set-default CA_ROTOR0_PX 0.5000
param set-default CA_ROTOR0_PY 0.3000
param set-default CA_ROTOR0_PZ 0.2000
param set-default CA_ROTOR1_AX 1.0000
param set-default CA_ROTOR1_AY 1.0000
param set-default CA_ROTOR1_AZ 0.0000
param set-default CA_ROTOR1_KM 0.0000
param set-default CA_ROTOR1_PX 0.5000
param set-default CA_ROTOR1_PY -0.3000
param set-default CA_ROTOR1_PZ 0.2000
param set-default CA_ROTOR2_AX 1.0000
param set-default CA_ROTOR2_AY 1.0000
param set-default CA_ROTOR2_AZ 0.0000
param set-default CA_ROTOR2_KM 0.0000
param set-default CA_ROTOR2_PX -0.5000
param set-default CA_ROTOR2_PY 0.3000
param set-default CA_ROTOR2_PZ 0.2000
param set-default CA_ROTOR3_AX 1.0000
param set-default CA_ROTOR3_AY -1.0000
param set-default CA_ROTOR3_AZ 0.0000
param set-default CA_ROTOR3_KM 0.0000
param set-default CA_ROTOR3_PX -0.5000
param set-default CA_ROTOR3_PY -0.3000
param set-default CA_ROTOR3_PZ 0.2000
param set-default CA_ROTOR4_AZ -1.0000
param set-default CA_ROTOR4_KM 0.0000
param set-default CA_ROTOR4_PX 0.5000
param set-default CA_ROTOR4_PY 0.5000
param set-default CA_ROTOR5_AZ 1.0000
param set-default CA_ROTOR5_KM 0.0000
param set-default CA_ROTOR5_PX 0.5000
param set-default CA_ROTOR5_PY -0.5000
param set-default CA_ROTOR6_AZ 1.0000
param set-default CA_ROTOR6_KM 0.0000
param set-default CA_ROTOR6_PX -0.5000
param set-default CA_ROTOR6_PY 0.5000
param set-default CA_ROTOR7_KM 0.0000
param set-default CA_ROTOR7_PX -0.5000
param set-default CA_ROTOR7_PY -0.5000
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default PWM_MAIN_FUNC5 105
param set-default PWM_MAIN_FUNC6 106
param set-default PWM_MAIN_FUNC7 107
param set-default PWM_MAIN_FUNC8 108
set MIXER skip

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@ -41,5 +41,4 @@ px4_add_romfs_files(
standard_vtol_sitl.main.mix
tiltrotor_sitl.main.mix
uuv_x_sitl.main.mix
vectored6dof_sitl.main.mix
)

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@ -1,40 +0,0 @@
# Motor 1
M: 3
S: 0 2 -4000 -4000 0 -4000 +4000
S: 0 3 +4000 +4000 0 -4000 +4000
S: 0 4 -4000 -4000 0 -4000 +4000
# Motor 2
M: 3
S: 0 2 +4000 +4000 0 -4000 +4000
S: 0 3 +4000 +4000 0 -4000 +4000
S: 0 4 +4000 +4000 0 -4000 +4000
# Motor 3
M: 3
S: 0 2 -4000 -4000 0 -4000 +4000
S: 0 3 +4000 +4000 0 -4000 +4000
S: 0 4 +4000 +4000 0 -4000 +4000
# Motor 4
M: 3
S: 0 2 +4000 +4000 0 -4000 +4000
S: 0 3 +4000 +4000 0 -4000 +4000
S: 0 4 -4000 -4000 0 -4000 +4000
# Motor 5
M: 3
S: 0 0 -4000 -4000 0 -4000 +4000
S: 0 1 +4000 +4000 0 -4000 +4000
S: 0 5 -4000 -4000 0 -4000 +4000
# Motor 6
M: 3
S: 0 0 -4000 -4000 0 -4000 +4000
S: 0 1 -4000 -4000 0 -4000 +4000
S: 0 5 +4000 +4000 0 -4000 +4000
# Motor 7
M: 3
S: 0 0 +4000 +4000 0 -4000 +4000
S: 0 1 +4000 +4000 0 -4000 +4000
S: 0 5 +4000 +4000 0 -4000 +4000
# Motor 8
M: 3
S: 0 0 +4000 +4000 0 -4000 +4000
S: 0 1 -4000 -4000 0 -4000 +4000
S: 0 5 -4000 -4000 0 -4000 +4000