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config: enable dynamic control allocation by default (SYS_CTRL_ALLOC=1)

This commit is contained in:
Beat Küng 2022-07-28 10:18:06 +02:00
parent 6ea3c6a7d2
commit 720cf5a485
18 changed files with 1 additions and 24 deletions
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2
ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc
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@ -9,8 +9,6 @@
. ${R}etc/init.d/rc.mc_defaults
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 0

2
ROMFS/px4fmu_common/init.d-posix/airframes/10019_omnicopter
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@ -9,8 +9,6 @@
. ${R}etc/init.d/rc.mc_defaults
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 0

1
ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy
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@ -8,7 +8,6 @@
# disable circuit breaker for airspeed sensor
param set-default CBRK_AIRSPD_CHK 162128
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 7
param set-default CA_ROTOR_COUNT 8

1
ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
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@ -41,7 +41,6 @@ param set-default NAV_DLL_ACT 2
param set-default RWTO_TKOFF 1
#param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 1
param set-default CA_ROTOR_COUNT 1

1
ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
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@ -12,7 +12,6 @@
param set-default FD_ACT_EN 0
param set-default FD_ACT_MOT_TOUT 500
# param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 2
param set-default CA_ROTOR_COUNT 5

1
ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter
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@ -9,7 +9,6 @@
param set-default MAV_TYPE 20
# param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 4
param set-default CA_ROTOR_COUNT 4

1
ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
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@ -9,7 +9,6 @@
param set-default MAV_TYPE 21
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 3
param set-default CA_ROTOR_COUNT 4

1
ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover
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@ -28,7 +28,6 @@ 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 5
param set-default CA_R_REV 1

1
ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover
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@ -28,7 +28,6 @@ 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 6
param set-default CA_R_REV 3

1
ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat
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@ -28,7 +28,6 @@ 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

1
ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship
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@ -11,7 +11,6 @@
. ${R}etc/init.d/rc.airship_defaults
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 9
param set-default CA_ROTOR_COUNT 3

2
ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc
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@ -9,8 +9,6 @@
param set-default MAV_TYPE 13
param set-default SYS_CTRL_ALLOC 1
param set-default MC_PITCHRATE_P 0.0800
param set-default MC_PITCHRATE_I 0.0400
param set-default MC_PITCHRATE_D 0.0010

1
ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
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@ -12,7 +12,6 @@
. ${R}etc/init.d/rc.vtol_defaults
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 2
param set-default CA_ROTOR_COUNT 5
param set-default CA_ROTOR0_PX 1

2
ROMFS/px4fmu_common/init.d/airframes/13100_generic_vtol_tiltrotor
View File

@ -11,8 +11,6 @@
. ${R}etc/init.d/rc.vtol_defaults
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 3
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 1

1
ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter
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@ -12,7 +12,6 @@
. ${R}etc/init.d/rc.vtol_defaults
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 4
param set-default CA_ROTOR_COUNT 2
param set-default CA_ROTOR0_KM -0.05

1
ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane
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@ -10,7 +10,6 @@
. ${R}etc/init.d/rc.fw_defaults
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 1
param set-default CA_ROTOR_COUNT 1
param set-default CA_ROTOR0_PX 0.3

1
ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing
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@ -10,7 +10,6 @@
. ${R}etc/init.d/rc.fw_defaults
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 1
param set-default CA_ROTOR_COUNT 1

4
src/lib/systemlib/system_params.c
View File

@ -289,10 +289,8 @@ PARAM_DEFINE_INT32(SYS_FAILURE_EN, 0);
* If enabled, dynamic control allocation with runtime configuration of the
* mixing and output functions is used.
*
* Note: this is work-in-progress and not all vehicle types are supported yet.
*
* @boolean
* @reboot_required true
* @group System
*/
PARAM_DEFINE_INT32(SYS_CTRL_ALLOC, 0);
PARAM_DEFINE_INT32(SYS_CTRL_ALLOC, 1);