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airframes: replace blade with generic helicopter

This commit is contained in:
Beat Küng 2022-08-26 15:32:42 +02:00
parent 7e75b497ae
commit 2635e2c386
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GPG Key ID: 866DB5F0E24821BB
3 changed files with 25 additions and 34 deletions
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1
ROMFS/px4fmu_common/init.d/CMakeLists.txt
View File

@ -41,6 +41,7 @@ px4_add_romfs_files(
rc.boat_defaults
rc.fw_apps
rc.fw_defaults
rc.heli_defaults
rc.interface
rc.logging
rc.mc_apps

40
ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
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@ -1,55 +1,27 @@
#!/bin/sh
#
# @name Blade 130X
# @name Generic Helicopter (Tail ESC)
#
# @type Helicopter
# @class Copter
#
# @maintainer Bart Slinger <bartslinger@gmail.com>
#
# @output Motor1 main motor
# @output Servo1 front swashplate servo
# @output Servo2 right swashplate servo
# @output Servo3 left swashplate servo
# @output Servo4 tail-rotor servo
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.mc_defaults
# Configure as helicopter
param set-default MAV_TYPE 4
. ${R}etc/init.d/rc.heli_defaults
param set-default ATT_BIAS_MAX 0
param set-default CBRK_IO_SAFETY 22027
param set-default MC_ROLL_P 5
# Disable PID gains for initial setup. These should be enabled after setting the FF gain.
# P is expected to be lower than FF.
param set-default MC_ROLLRATE_P 0
param set-default MC_ROLLRATE_I 0
param set-default MC_ROLLRATE_D 0
param set-default MC_ROLLRATE_FF 0.15
param set-default MC_ROLLRATE_FF 0.1
param set-default MC_PITCHRATE_P 0
param set-default MC_PITCHRATE_I 0
param set-default MC_PITCHRATE_D 0
param set-default MC_PITCHRATE_FF 0.15
param set-default MC_YAW_P 3
param set-default MC_YAWRATE_P 0.1
param set-default MC_YAWRATE_I 0
param set-default MC_ROLLRATE_MAX 720
param set-default MC_PITCHRATE_MAX 720
param set-default MC_YAWRATE_MAX 400
param set-default MC_ACRO_R_MAX 360
param set-default MC_ACRO_P_MAX 360
param set-default MPC_THR_MIN 0.06
param set-default MPC_MANTHR_MIN 0.06
param set-default PWM_MAIN_MIN 1075
param set-default MC_PITCHRATE_FF 0.1
param set-default CA_AIRFRAME 10

18
ROMFS/px4fmu_common/init.d/rc.heli_defaults Normal file
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@ -0,0 +1,18 @@
#!/bin/sh
#
# Helicopter default parameters.
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
# Inherit from mc
. ${R}etc/init.d/rc.mc_defaults
param set-default MAV_TYPE 4
param set-default COM_PREARM_MODE 2
param set-default COM_SPOOLUP_TIME 10
param set-default MPC_MANTHR_MIN 0