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ROMFS: Add new VTOL standard airframe 13015 using all MAIN outputs 

Co-authored-by: Daniel Agar <daniel@agar.ca>
This commit is contained in:
Lorenz Meier 2021-02-06 01:00:26 +01:00 committed by GitHub
parent c1435c744c
commit 9e69b16c3c
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4 changed files with 92 additions and 0 deletions
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61
ROMFS/px4fmu_common/init.d/airframes/13015_generic_vtol_standard Normal file
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@ -0,0 +1,61 @@
#!/bin/sh
#
# @name Generic Quadplane VTOL (PWM14)
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output MAIN5 Aileron 1
# @output MAIN6 Aileron 2
# @output MAIN7 Elevator
# @output MAIN8 Rudder
# @output MAIN9 Pusher motor
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set PWM_MAIN_RATE 400
param set PWM_MAIN_MIN1 1100
param set PWM_MAIN_MIN2 1100
param set PWM_MAIN_MIN3 1100
param set PWM_MAIN_MIN4 1100
param set PWM_MAIN_MAX1 1900
param set PWM_MAIN_MAX2 1900
param set PWM_MAIN_MAX3 1900
param set PWM_MAIN_MAX4 1900
param set PWM_MAIN_DIS1 900
param set PWM_MAIN_DIS2 900
param set PWM_MAIN_DIS3 900
param set PWM_MAIN_DIS4 900
param set PWM_MAIN_DIS5 1500
param set PWM_MAIN_DIS6 1500
param set PWM_MAIN_DIS7 1500
param set PWM_MAIN_DIS8 1500
param set PWM_MAIN_DIS9 900
param set VT_TYPE 2
param set VT_MOT_ID 1234
param set VT_FW_MOT_OFFID 1234
fi
set MAV_TYPE 22
set MIXER quad_x_vtol_AAERT
set MIXER_AUX none
set PWM_OUT 1234

1
ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
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@ -138,6 +138,7 @@ px4_add_romfs_files(
13012_convergence
13013_deltaquad
13014_vtol_babyshark
13015_generic_vtol_standard
13050_generic_vtol_octo
13200_generic_vtol_tailsitter

1
ROMFS/px4fmu_common/mixers/CMakeLists.txt
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@ -76,6 +76,7 @@ px4_add_romfs_files(
quad_x_cw.main.mix
quad_x.main.mix
quad_x_vtol.main.mix
quad_x_vtol_AAERT.main.mix
rover_diff_and_servo.main.mix
rover_generic.main.mix
standard_vtol_hitl.main.mix

29
ROMFS/px4fmu_common/mixers/quad_x_vtol_AAERT.main.mix Normal file
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@ -0,0 +1,29 @@
Mixer for an AAERT VTOL
=======================
R: 4x
Aileron 1 mixer
---------------
M: 1
S: 1 0 7500 7500 0 -10000 10000
Aileron 2 mixer
---------------
M: 1
S: 1 0 7500 7500 0 -10000 10000
Elevator mixer
--------------
M: 1
S: 1 1 10000 10000 0 -10000 10000
Rudder mixer
------------
M: 1
S: 1 2 -10000 -10000 0 -10000 10000
Throttle mixer
--------------
M: 1
S: 1 3 0 20000 -10000 -10000 10000