From 8b4df8ceb25d5d9c1b04821fb2b9fe406e91f1e6 Mon Sep 17 00:00:00 2001 From: FARHANG <46557204+farhangnaderi@users.noreply.github.com> Date: Thu, 25 Aug 2022 08:52:18 +0300 Subject: [PATCH] airframes: re-add Holybro X500v2 with dynamic control allocation --- .../init.d/airframes/4019_x500_v2 | 35 +++++++++++++++++++ .../init.d/airframes/CMakeLists.txt | 1 + 2 files changed, 36 insertions(+) create mode 100644 ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2 b/ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2 new file mode 100644 index 0000000000..69ddd7a025 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2 @@ -0,0 +1,35 @@ +#!/bin/sh +# +# @name Holybro X500 V2 +# +# @type Quadrotor x +# @class Copter +# +# @maintainer Farhang Naderi +# +# @board px4_fmu-v2 exclude +# @board bitcraze_crazyflie exclude +# + +. ${R}etc/init.d/rc.mc_defaults + +param set-default IMU_GYRO_CUTOFF 30 + +param set-default MC_ROLLRATE_P 0.14 +param set-default MC_PITCHRATE_P 0.14 +param set-default MC_ROLLRATE_I 0.3 +param set-default MC_PITCHRATE_I 0.3 +param set-default MC_ROLLRATE_D 0.004 +param set-default MC_PITCHRATE_D 0.004 + +param set-default CA_ROTOR_COUNT 4 +param set-default CA_ROTOR0_PX 0.25 +param set-default CA_ROTOR0_PY 0.25 +param set-default CA_ROTOR1_PX -0.25 +param set-default CA_ROTOR1_PY -0.25 +param set-default CA_ROTOR2_PX 0.25 +param set-default CA_ROTOR2_PY -0.25 +param set-default CA_ROTOR2_KM -0.05 +param set-default CA_ROTOR3_PX -0.25 +param set-default CA_ROTOR3_PY 0.25 +param set-default CA_ROTOR3_KM -0.05 diff --git a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt index e20a8f89a6..e3e43e2db7 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt +++ b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt @@ -56,6 +56,7 @@ px4_add_romfs_files( 4015_holybro_s500 4016_holybro_px4vision 4017_nxp_hovergames + 4019_x500_v2 4040_reaper 4041_beta75x 4050_generic_250