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rover: switch sitl configs to control allocation

This commit is contained in:
Beat Küng 2021-11-29 14:04:50 +01:00 committed by Daniel Agar
parent 8d9e2a28c4
commit 43e15148f6
5 changed files with 20 additions and 96 deletions
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11
ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover
View File

@ -28,6 +28,15 @@ 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 3
param set-default CA_R_REV 1
param set-default PWM_MAIN_FUNC1 201
param set-default PWM_MAIN_FUNC2 201
param set-default PWM_MAIN_FUNC6 101
param set-default PWM_MAIN_FUNC7 101
set MAV_TYPE 10
set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
set MIXER_FILE skip

11
ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover
View File

@ -28,6 +28,15 @@ 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 4
param set-default CA_R_REV 3
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 101
param set-default PWM_MAIN_FUNC6 102
param set-default PWM_MAIN_FUNC7 102
set MAV_TYPE 10
set MIXER_FILE etc/mixers-sitl/rover_diff_sitl.main.mix
set MIXER_FILE skip

2
ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt
View File

@ -38,8 +38,6 @@ px4_add_romfs_files(
package_drop.aux.mix
plane_sitl.main.mix
quad_x_vtol.main.mix
rover_ackermann_sitl.main.mix
rover_diff_sitl.main.mix
standard_vtol_sitl.main.mix
tiltrotor_sitl.main.mix
uuv_x_sitl.main.mix

46
ROMFS/px4fmu_common/mixers-sitl/rover_ackermann_sitl.main.mix
View File

@ -1,46 +0,0 @@
Mixer for SITL rover
=========================================================
Output 0
---------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
Output 1
---------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
Output 2
---------------------------------------
Z:
Output 3
---------------------------------------
Z:
Output 4
---------------------------------------
Z:
Output 5
---------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 10000 10000 0 -10000 10000
Output 6
---------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 10000 10000 0 -10000 10000
Output 7
---------------------------------------
Z:
Output 8
---------------------------------------
Z:

46
ROMFS/px4fmu_common/mixers-sitl/rover_diff_sitl.main.mix
View File

@ -1,46 +0,0 @@
Mixer for SITL rover
=========================================================
Output 0
---------------------------------------
M: 2
S: 0 2 10000 10000 0 -10000 10000
S: 0 3 10000 10000 0 -10000 10000
Output 1
---------------------------------------
M: 2
S: 0 2 10000 10000 0 -10000 10000
S: 0 3 10000 10000 0 -10000 10000
Output 2
---------------------------------------
Z:
Output 3
---------------------------------------
Z:
Output 4
---------------------------------------
Z:
Output 5
---------------------------------------
M: 2
S: 0 2 -10000 -10000 0 -10000 10000
S: 0 3 10000 10000 0 -10000 10000
Output 6
---------------------------------------
M: 2
S: 0 2 -10000 -10000 0 -10000 10000
S: 0 3 10000 10000 0 -10000 10000
Output 7
---------------------------------------
Z:
Output 8
---------------------------------------
Z: