diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover index a03a6f460f..d8f9c9aaa4 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover @@ -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 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover index 4fe465388d..c95a884c5e 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover @@ -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 diff --git a/ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt b/ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt index ea7eefd805..753c47382b 100644 --- a/ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt +++ b/ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt @@ -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 diff --git a/ROMFS/px4fmu_common/mixers-sitl/rover_ackermann_sitl.main.mix b/ROMFS/px4fmu_common/mixers-sitl/rover_ackermann_sitl.main.mix deleted file mode 100644 index d56d5a067d..0000000000 --- a/ROMFS/px4fmu_common/mixers-sitl/rover_ackermann_sitl.main.mix +++ /dev/null @@ -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: diff --git a/ROMFS/px4fmu_common/mixers-sitl/rover_diff_sitl.main.mix b/ROMFS/px4fmu_common/mixers-sitl/rover_diff_sitl.main.mix deleted file mode 100644 index c5f378410f..0000000000 --- a/ROMFS/px4fmu_common/mixers-sitl/rover_diff_sitl.main.mix +++ /dev/null @@ -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: